Systems and methods to correct for uncommanded instrument roll

ABSTRACT

Certain aspects relate to systems, methods, and techniques for correcting for uncommanded instrument roll. A method for adjusting a controller-feedback system in a medical instrument may comprise receiving data from a sensor at or near a distal end of the instrument, determining a tip frame of reference based on the data from the sensor, the tip frame of reference representing a current orientation of the distal end of the instrument, obtaining a desired frame of reference, determining an adjustment to a visual frame of reference or a control frame of reference based on the tip frame of reference and the desired frame of reference, and transforming the visual frame of reference or the control frame of reference.

INCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS

This application is a continuation of U.S. application Ser. No.16/210,971, filed Dec. 5, 2018, which claims priority to U.S.Provisional Application No. 62/595,455, filed Dec. 6, 2017, the entiretyof each which is incorporated herein by reference. Any and allapplications for which a foreign or domestic priority claim isidentified in the Application Data Sheet as filed with the presentapplication are hereby incorporated by reference under 37 CFR 1.57.

TECHNICAL FIELD

The systems and methods disclosed herein are directed to medicalprocedures, and more particularly to systems and methods for correctingfor uncommanded instrument roll.

BACKGROUND

Medical procedures such as endoscopy (e.g., bronchoscopy) may involveaccessing and visualizing the inside of a patient's lumen (e.g.,airways, bronchi, or bronchioles) for diagnostic and/or therapeuticpurposes. During a procedure, a flexible tubular instrument (e.g., anendoscope or a catheter) may be inserted into the patient's body and atool (e.g., a grasping forcep, a biopsy forcep, a cytology brush, aballoon dilator, a snare, a needle, and/or a basket) can be passedthrough the flexible tubular instrument to a tissue site identified fordiagnosis and/or treatment.

SUMMARY

The systems, methods and devices of this disclosure each have severalinnovative aspects, no single one of which is solely responsible for thedesirable attributes disclosed herein.

In one aspect, there is provided a method for adjusting acontroller-feedback system in a robotically controlled medicalinstrument inserted into a patient, comprising: receiving data from atleast one imaging device or location sensor at a distal end of theinstrument, determining a tip frame of reference based on the data fromthe at least one imaging device or location sensor, the tip frame ofreference representing a current orientation of the distal end of theinstrument, obtaining a desired frame of reference representing a frameof reference relative to an anatomy frame of reference or a global frameof reference, determining an adjustment to a visual frame of referenceor a control frame of reference based on the tip frame of reference andthe desired frame of reference, and transforming the visual frame ofreference or the control frame of reference based on the determinedadjustment.

The method may also include one or more of the following features in anycombination: (a) wherein the at least one location sensor comprises anelectromagnetic (EM) sensor; (b) wherein the visual frame of referencerepresents an image from the imaging device at the distal end of theinstrument; (c) wherein the control frame of reference represents anorientation of a control system of the instrument; (d) wherein obtainingthe desired frame of reference is based on one or more anatomicalfeatures of the patient; (e) wherein obtaining the desired frame ofreference is based on one or more pixel values of an image representingthe one or more anatomical features of the patient; (f) whereinobtaining the desired frame of reference is based on one or moreanatomical features of a main carina of the patient; (g) whereinobtaining the desired frame of reference is based on data from one ormore EM patches positioned on the patient; (h) wherein obtaining thedesired frame of reference is based on the tip frame of reference; (i)wherein determining the adjustment is based on comparing between one ormore features derived from at least one image of an anatomical featureand one or more features derived from at least one model of theanatomical feature; (j) wherein the at least one image of an anatomicalfeature is obtained from the imaging device at the distal end of theinstrument; (k) wherein determining the adjustment is based on comparingbetween data from one or more EM sensors in the distal end of theinstrument and data from one or more EM patches positioned on thepatient; (l) wherein determining the adjustment is based on data from anaccelerometer configured to measure a force of gravity; (m) whereintransforming the visual frame of reference or the control frame ofreference comprises rotating the visual frame of reference or thecontrol frame of reference with respect to a longitudinal axis of theinstrument; (n) wherein transforming the visual frame of reference orthe control frame of reference comprises rotating the visual frame ofreference or the control frame of reference to align with the tip frameof reference or the desired frame of reference; (o) wherein transformingthe visual frame of reference or the control frame of reference is basedon a user input; (p) verifying the transformed visual frame of referenceor the transformed control frame of reference; and/or (q) whereinverifying the transformed visual frame of reference or the transformedcontrol frame of reference comprises: moving the instrument in onedirection, calculating an expected change in the visual frame ofreference or the control frame of reference in response to the movementof the instrument, and comparing between an actual change in the visualframe of reference or the control frame of reference and the expectedchange.

In another aspect, there is provided a system configured to transform acontrol frame of a medical instrument configured to be inserted into apatient in which the system comprises: a control system configured todetermine movement of the medical instrument, at least onecomputer-readable memory having stored thereon executable instructions;and one or more processors in communication with the at least onecomputer-readable memory and configured to execute the instructions tocause the system to at least: obtain a control frame of referencerepresenting a relationship between a motor control command and a motoroutput of the medical instrument, determine a tip frame of referencebased on data from at least one imaging device or location sensor at adistal end of the medical instrument, the tip frame of referencerepresenting a current orientation of the distal end of the medicalinstrument, obtain a desired frame of reference, and transform thecontrol frame of reference based on the tip frame of reference and thedesired frame of reference.

The system may also include one or more of the following features in anycombination: (a) wherein the at least one location sensor comprises anelectromagnetic (EM) sensor; (b) wherein the one or more processors incommunication with the at least one computer-readable memory areconfigured to execute the instructions to cause the system to at least:receive the tip frame of reference from the medical instrument; (c)wherein the one or more processors in communication with the at leastone computer-readable memory are configured to execute the instructionsto cause the system to at least: receive data from a second sensor atthe distal end of the medical instrument and determine the tip frame ofreference based on the data from the second sensor; (d) wherein thesecond sensor at the distal end of the instrument comprises at least oneimaging device or location sensor; (e) wherein the second sensorcomprises an electromagnetic (EM) sensor; (f) wherein the one or moreprocessors in communication with the at least one computer-readablememory are configured to execute the instructions to cause the system toat least receive the control frame of reference from the control system;(g) wherein the one or more processors in communication with the atleast one computer-readable memory are configured to execute theinstructions to cause the system to at least move the medical instrumentin one direction and determine the control frame of reference based onthe movement of the medical instrument; (h) wherein the one or moreprocessors in communication with the at least one computer-readablememory are configured to execute the instructions to cause the system toat least receive a visual frame of reference from the instrument andtransform the visual frame of reference based on the tip frame ofreference and the desired frame of reference; (i) wherein the one ormore processors in communication with the at least one computer-readablememory are configured to execute the instructions to cause the system toat least receive data from the at least one sensor at the distal end ofthe medical instrument, determine a visual frame of reference based onthe data from the at least one sensor, and transform the visual frame ofreference based on the tip frame of reference and the desired frame ofreference; (j) wherein the one or more processors in communication withthe at least one computer-readable memory are configured to execute theinstructions to cause the system to at least: determine the desiredframe of reference based on one or more anatomical features of thepatient; (k) wherein the one or more processors in communication withthe at least one computer-readable memory are configured to execute theinstructions to cause the system to at least: determine the desiredframe of reference based on one or more pixel values of an imagerepresenting the one or more anatomical features of the patient; (l)wherein the one or more processors in communication with the at leastone computer-readable memory are configured to execute the instructionsto cause the system to at least: determine the desired frame ofreference based on data from one or more EM patches positioned on thepatient; (m) wherein the one or more processors in communication withthe at least one computer-readable memory are configured to execute theinstructions to cause the system to at least determine one or moredifferences between at least one image of an anatomical feature and atleast one model of the anatomical feature, and transform the controlframe of reference based on the differences between the at least oneimage and the at least one model; (n) wherein the one or more processorsin communication with the at least one computer-readable memory areconfigured to execute the instructions to cause the system to at leastrotate the control frame of reference with respect to a longitudinalaxis of the medical instrument to align with the desired frame ofreference; (o) wherein the one or more processors in communication withthe at least one computer-readable memory are configured to execute theinstructions to cause the system to at least: transform the controlframe of reference based on a user input; (p) wherein the one or moreprocessors in communication with the at least one computer-readablememory are configured to further execute the instructions to cause thesystem to at least: verify the transformed control frame of reference;(q) wherein the one or more processors in communication with the atleast one computer-readable memory are configured to further execute theinstructions to cause the system to at least move the medical instrumentin one direction, determine an expected change in the control frame ofreference in response to the movement of the medical instrument, andcompare between an actual change in the control frame of reference andthe expected change; and/or (r) wherein the one or more processors incommunication with the at least one computer-readable memory areconfigured to further execute the instructions to cause the system to atleast obtain a sheath frame of reference representing an orientation ofa distal end of a sheath configured to slidably cover the medicalinstrument, and transform the sheath frame of reference based on thecontrol frame of reference or the desired frame of reference.

In yet another aspect, there is provided a robotically controlledsteerable instrument system that comprises a steerable instrumentcomprising a proximal end, a distal end, a channel extendingtherethrough, and at least one sensor at the distal end, the instrumentconfigured to be inserted into a patient, one or more pullwiresextending through and coupled to at least a portion of the steerableinstrument, a robotic instrument driver, a control systemcommunicatively coupled to the instrument driver and configured toactuate the one or more pullwires, at least one computer-readable memoryhaving stored thereon executable instructions, and one or moreprocessors in communication with the at least one computer-readablememory and configured to execute the instructions to cause the system toat least obtain a control frame of reference representing relationshipbetween a motor control command and a motor output of the instrument,determine a tip frame of reference based on data from at least oneimaging device or location sensor at a distal end of the instrument, thetip frame of reference representing a current orientation of the distalend of the instrument, obtain a desired frame of reference, andtransform the control frame of reference based on the tip frame ofreference and the desired frame of reference.

The system may also include one or more of the following features in anycombination: (a) wherein the location sensor comprises anelectromagnetic (EM) sensor; (b) wherein the one or more processors incommunication with the at least one computer-readable memory areconfigured to execute the instructions to cause the system to at leastreceive data from the at least one sensor and determine the tip frame ofreference based on the data from the at least one sensor; (c) whereinthe one or more processors in communication with the at least onecomputer-readable memory are configured to execute the instructions tocause the system to at least: receive the control frame of referencefrom the control system; (d) wherein the one or more processors incommunication with the at least one computer-readable memory areconfigured to execute the instructions to cause the system to at leastactuate the one or more pullwires to move the portion of the instrumentand determine the control frame of reference based on the movement ofthe portion of the instrument; (e) wherein the one or more processors incommunication with the at least one computer-readable memory areconfigured to execute the instructions to cause the system to at leastreceive data from the at least one sensor, determine a visual frame ofreference based on the data from the at least one sensor, and transformthe visual frame of reference based on the tip frame of reference andthe desired frame of reference; (f) wherein the one or more processorsin communication with the at least one computer-readable memory areconfigured to execute the instructions to cause the system to at least:determine the desired frame of reference based on one or more anatomicalfeatures of the patient; (g) wherein the one or more processors incommunication with the at least one computer-readable memory areconfigured to execute the instructions to cause the system to at leastdetermine the desired frame of reference based on data from one or moreEM patches positioned on the patient; (h) wherein the one or moreprocessors in communication with the at least one computer-readablememory are configured to execute the instructions to cause the system toat least determine one or more differences between at least one image ofan anatomical feature and at least one model of the anatomical feature,and transform the control frame of reference based on the differencesbetween the at least one image and the at least one model; (i) whereinthe one or more processors in communication with the at least onecomputer-readable memory are configured to execute the instructions tocause the system to at least rotate the control frame of reference withrespect to a longitudinal axis of the instrument to align with thedesired frame of reference; (j) wherein the one or more processors incommunication with the at least one computer-readable memory areconfigured to execute the instructions to cause the system to at least:transform the control frame of reference based on a user input; (k)wherein the one or more processors in communication with the at leastone computer-readable memory are configured to further execute theinstructions to cause the system to at least verify the transformedcontrol frame of reference; (l) wherein the one or more processors incommunication with the at least one computer-readable memory areconfigured to further execute the instructions to cause the system to atleast actuate the one or more pullwires to move the portion of theinstrument, determine an expected change in the control frame ofreference in response to the movement of the portion of the instrument;and compare between an actual change in the control frame of referenceand the expected change; and/or (m) wherein the steerable instrumentfurther comprises a sheath configured to slidably cover at least aportion of the instrument, and wherein the one or more processors incommunication with the at least one computer-readable memory areconfigured to further execute the instructions to cause the system to atleast obtain a sheath frame of reference representing an orientation ofa distal end of the sheath, and transform the sheath frame of referencebased on the control frame of reference or the desired frame ofreference.

In one aspect, there is provided a non-transitory computer readablestorage medium having stored thereon instructions that, when executed,cause at least one processor to at least: obtain a control frame ofreference representing relationship between a motor control command anda motor output of a medical instrument configured to be inserted into apatient; determine a tip frame of reference based on data from at leastone imaging device or location sensor at a distal end of the medicalinstrument, the tip frame of reference representing a currentorientation of the distal end of the medical instrument, obtain adesired frame of reference based on data from the at least one imagingdevice or location sensor positioned on the patient, and determine oneor more differences between (1) the control frame of reference and (2)the desired frame of reference.

The non-transitory computer readable storage medium may also compriseone or more of the following features in any combination: (a) whereinthe instructions that, when executed, cause at least one processor to atleast obtain a control frame of reference representing relationshipbetween a motor control command and a motor output of a medicalinstrument configured to be inserted into a patient, determine a tipframe of reference based on data from at least one imaging device orlocation sensor at a distal end of the medical instrument, the tip frameof reference representing a current orientation of the distal end of themedical instrument, obtain a desired frame of reference based on datafrom the at least one imaging device or location sensor positioned onthe patient, and determine one or more differences between the controlframe of reference and the desired frame of reference; (b) wherein theat least one location sensor comprises an electromagnetic (EM) sensor;(c) wherein the instructions, when executed, cause the at least oneprocessor to at least: receive a tip frame of reference from the medicalinstrument; (d) wherein the instructions, when executed, cause the atleast one processor to at least determine the desired frame of referencebased on the tip frame of reference; (e) wherein the instructions, whenexecuted, cause the at least one processor to at least transform avisual frame of reference or the control frame of reference based on thedetermined differences; (f) wherein the visual frame of referencerepresents an orientation of the at least one imaging device at thedistal end of the medical instrument; (g) wherein the instructions, whenexecuted, cause the at least one processor to at least determine thedesired frame of reference based on one or more anatomical features ofthe patient; (h) wherein the instructions, when executed, cause the atleast one processor to at least: determine the one or more differencesby comparing between one or more features derived from at least oneimage of an anatomical feature and one or more features derived from atleast one model of the anatomical feature; (i) wherein the instructions,when executed, cause the at least one processor to at least determinethe one or more differences by comparing between data from the at leastone location sensor in the distal end of the medical instrument and datafrom one or more EM patches positioned on the patient; (j) wherein theinstructions, when executed, cause the at least one processor to atleast: transform the control frame of reference by rotating the controlframe of reference with respect to a longitudinal axis of the medicalinstrument to align with the desired frame of reference; (k) wherein theinstructions, when executed, cause the at least one processor to atleast transform the control frame of reference based on a user input;(l) wherein the instructions, when executed, cause the at least oneprocessor to at least verify the transformed control frame of reference;and/or (m) wherein the instructions, when executed, cause the at leastone processor to at least move the medical instrument in one direction,calculate an expected change in the control frame of reference inresponse to the movement of the medical instrument, and compare betweenan actual change in the control frame of reference and the expectedchange.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosed aspects will hereinafter be described in conjunction withthe appended drawings, provided to illustrate and not to limit thedisclosed aspects, wherein like designations denote like elements.

FIG. 1 illustrates an embodiment of a cart-based robotic system arrangedfor diagnostic and/or therapeutic bronchoscopy procedure(s).

FIG. 2 depicts further aspects of the robotic system of FIG. 1 .

FIG. 3 illustrates an embodiment of the robotic system of FIG. 1arranged for ureteroscopy.

FIG. 4 illustrates an embodiment of the robotic system of FIG. 1arranged for a vascular procedure.

FIG. 5 illustrates an embodiment of a table-based robotic systemarranged for a bronchoscopy procedure.

FIG. 6 provides an alternative view of the robotic system of FIG. 5 .

FIG. 7 illustrates an example system configured to stow robotic arm(s).

FIG. 8 illustrates an embodiment of a table-based robotic systemconfigured for a ureteroscopy procedure.

FIG. 9 illustrates an embodiment of a table-based robotic systemconfigured for a laparoscopic procedure.

FIG. 10 illustrates an embodiment of the table-based robotic system ofFIGS. 5-9 with pitch or tilt adjustment.

FIG. 11 provides a detailed illustration of the interface between thetable and the column of the table-based robotic system of FIGS. 5-10 .

FIG. 12 illustrates an exemplary instrument driver.

FIG. 13 illustrates an exemplary medical instrument with a pairedinstrument driver.

FIG. 14 illustrates an alternative design for an instrument driver andinstrument where the axes of the drive units are parallel to the axis ofthe elongated shaft of the instrument.

FIG. 15 depicts a block diagram illustrating a localization system thatestimates a location of one or more elements of the robotic systems ofFIGS. 1-10 , such as the location of the instrument of FIGS. 13-14 , inaccordance to an example embodiment.

FIG. 16 illustrates an example operating environment implementing one ormore aspects of the disclosed systems and techniques.

FIG. 17 illustrates an example luminal network that can be navigated inthe operating environment of FIG. 16 .

FIG. 18 illustrates a distal end of an exemplary instrument havingimaging and EM sensing capabilities.

FIGS. 19A-19B illustrates a tip frame of reference, a visual framereference, a control frame reference, and a desired frame of referenceof an example medical instrument

FIGS. 20A-20B illustrate a tip frame of reference, a visual framereference, a control frame reference, and a desired frame of referenceof an example medical instrument with uncommanded instrument roll.

FIGS. 21A-21B illustrate a tip frame of reference, a visual framereference, a control frame reference, and a desired frame of referenceof the example medical instrument of FIGS. 20A-20B after a correctionfor uncommanded instrument roll.

FIG. 22 depicts a block diagram illustrating an exemplary process forcorrecting for uncommanded instrument roll.

FIG. 23 describes a desired frame of reference determined by EM patchsensors, in accordance to an example embodiment.

FIGS. 24A-24D describe exemplary user interfaces that can be presentedto a user during a process for correcting for uncommanded instrumentroll.

FIG. 25 depicts an exemplary process of determining an adjustment of anuncommanded instrument roll.

FIG. 26 describes a control system configured to correct for uncommandedinstrument roll.

DETAILED DESCRIPTION

1. Overview.

Aspects of the present disclosure may be integrated into arobotically-enabled medical system capable of performing a variety ofmedical procedures, including both minimally invasive, such aslaparoscopy, and non-invasive, such as endoscopy, procedures. Amongendoscopy procedures, the system may be capable of performingbronchoscopy, ureteroscopy, gastroscopy, etc.

In addition to performing the breadth of procedures, the system mayprovide additional benefits, such as enhanced imaging and guidance toassist the physician. Additionally, the system may provide the physicianwith the ability to perform the procedure from an ergonomic positionwithout the need for awkward arm motions and positions. Still further,the system may provide the physician with the ability to perform theprocedure with improved ease of use such that one or more of theinstruments of the system can be controlled by a single user.

Various embodiments will be described below in conjunction with thedrawings for purposes of illustration. It should be appreciated thatmany other implementations of the disclosed concepts are possible, andvarious advantages can be achieved with the disclosed implementations.Headings are included herein for reference and to aid in locatingvarious sections. These headings are not intended to limit the scope ofthe concepts described with respect thereto. Such concepts may haveapplicability throughout the entire specification.

As used herein, “distal” refers to the end of a scope, instrument, ortool positioned closest to the patient during use, and “proximal” refersto the end of the scope, instrument, or tool positioned closest to theoperator (e.g., a physician or robotic control system). Stateddifferently, the relative positions of components of the scope,instrument, tool, and/or the robotic system are described herein fromthe vantage point of the operator.

As used herein, the terms “about” or “approximately” refer to a range ofmeasurements of a length, thickness, a quantity, time period, or othermeasurable values. Such range of measurements encompasses variations of+/−10% or less, preferably +/−5% or less, more preferably +/−1% or less,and still more preferably +/−0.1% or less, of and from the specifiedvalue, in so far as such variations are appropriate in order to functionin the disclosed devices, systems, and techniques.

Various embodiments will be described below in conjunction with thedrawings for purposes of illustration. It should be appreciated thatmany other implementations of the disclosed concepts are possible, andvarious advantages can be achieved with the disclosed implementations.Headings are included herein for reference and to aid in locatingvarious sections. These headings are not intended to limit the scope ofthe concepts described with respect thereto. Such concepts may haveapplicability throughout the entire specification.

A. Robotic System—Cart.

The robotically-enabled medical system may be configured in a variety ofways depending on the particular procedure. FIG. 1 illustrates anembodiment of a cart-based robotically-enabled system 10 arranged for adiagnostic and/or therapeutic bronchoscopy procedure. During abronchoscopy, the system 10 may comprise a cart 11 having one or morerobotic arms 12 to deliver a medical instrument, such as a steerableendoscope 13, which may be a procedure-specific bronchoscope forbronchoscopy, to a natural orifice access point (i.e., the mouth of thepatient positioned on a table in the present example) to deliverdiagnostic and/or therapeutic tools. As shown, the cart 11 may bepositioned proximate to the patient's upper torso in order to provideaccess to the access point. Similarly, the robotic arms 12 may beactuated to position the bronchoscope relative to the access point. Thearrangement in FIG. 1 may also be utilized when performing agastro-intestinal (GI) procedure with a gastroscope, a specializedendoscope for GI procedures. FIG. 2 depicts an example embodiment of thecart in greater detail.

With continued reference to FIG. 1 , once the cart 11 is properlypositioned, the robotic arms 12 may insert the steerable endoscope 13into the patient robotically, manually, or a combination thereof. Asshown, the steerable endoscope 13 may comprise at least two telescopingparts, such as an inner leader portion and an outer sheath portion, eachportion coupled to a separate instrument driver from the set ofinstrument drivers 28, each instrument driver coupled to the distal endof an individual robotic arm. This linear arrangement of the instrumentdrivers 28, which facilitates coaxially aligning the leader portion withthe sheath portion, creates a “virtual rail” 29 that may be repositionedin space by manipulating the one or more robotic arms 12 into differentangles and/or positions. The virtual rails described herein are depictedin the Figures using dashed lines, and accordingly the dashed lines donot depict any physical structure of the system. Translation of theinstrument drivers 28 along the virtual rail 29 telescopes the innerleader portion relative to the outer sheath portion or advances orretracts the endoscope 13 from the patient. The angle of the virtualrail 29 may be adjusted, translated, and pivoted based on clinicalapplication or physician preference. For example, in bronchoscopy, theangle and position of the virtual rail 29 as shown represents acompromise between providing physician access to the endoscope 13 whileminimizing friction that results from bending the endoscope 13 into thepatient's mouth.

The endoscope 13 may be directed down the patient's trachea and lungsafter insertion using precise commands from the robotic system untilreaching the target destination or operative site. In order to enhancenavigation through the patient's lung network and/or reach the desiredtarget, the endoscope 13 may be manipulated to telescopically extend theinner leader portion from the outer sheath portion to obtain enhancedarticulation and greater bend radius. The use of separate instrumentdrivers 28 also allows the leader portion and sheath portion to bedriven independent of each other.

For example, the endoscope 13 may be directed to deliver a biopsy needleto a target, such as, for example, a lesion or nodule within the lungsof a patient. The needle may be deployed down a working channel thatruns the length of the endoscope to obtain a tissue sample to beanalyzed by a pathologist. Depending on the pathology results,additional tools may be deployed down the working channel of theendoscope for additional biopsies. After identifying a nodule to bemalignant, the endoscope 13 may endoscopically deliver tools to resectthe potentially cancerous tissue. In some instances, diagnostic andtherapeutic treatments may need to be delivered in separate procedures.In those circumstances, the endoscope 13 may also be used to deliver afiducial to “mark” the location of the target nodule as well. In otherinstances, diagnostic and therapeutic treatments may be delivered duringthe same procedure.

The system 10 may also include a movable tower 30, which may beconnected via support cables to the cart 11 to provide support forcontrols, electronics, fluidics, optics, sensors, and/or power to thecart 11. Placing such functionality in the tower 30 allows for a smallerform factor cart 11 that may be more easily adjusted and/orre-positioned by an operating physician and his/her staff. Additionally,the division of functionality between the cart/table and the supporttower 30 reduces operating room clutter and facilitates improvingclinical workflow. While the cart 11 may be positioned close to thepatient, the tower 30 may be stowed in a remote location to stay out ofthe way during a procedure.

In support of the robotic systems described above, the tower 30 mayinclude component(s) of a computer-based control system that storescomputer program instructions, for example, within a non-transitorycomputer-readable storage medium such as a persistent magnetic storagedrive, solid state drive, etc. The execution of those instructions,whether the execution occurs in the tower 30 or the cart 11, may controlthe entire system or sub-system(s) thereof. For example, when executedby a processor of the computer system, the instructions may cause thecomponents of the robotics system to actuate the relevant carriages andarm mounts, actuate the robotics arms, and control the medicalinstruments. For example, in response to receiving the control signal,the motors in the joints of the robotics arms may position the arms intoa certain posture.

The tower 30 may also include a pump, flow meter, valve control, and/orfluid access in order to provide controlled irrigation and aspirationcapabilities to system that may be deployed through the endoscope 13.These components may also be controlled using the computer system oftower 30. In some embodiments, irrigation and aspiration capabilitiesmay be delivered directly to the endoscope 13 through separate cable(s).

The tower 30 may include a voltage and surge protector designed toprovide filtered and protected electrical power to the cart 11, therebyavoiding placement of a power transformer and other auxiliary powercomponents in the cart 11, resulting in a smaller, more moveable cart11.

The tower 30 may also include support equipment for the sensors deployedthroughout the robotic system 10. For example, the tower 30 may includeopto-electronics equipment for detecting, receiving, and processing datareceived from the optical sensors or cameras throughout the roboticsystem 10. In combination with the control system, such opto-electronicsequipment may be used to generate real-time images for display in anynumber of consoles deployed throughout the system, including in thetower 30. Similarly, the tower 30 may also include an electronicsubsystem for receiving and processing signals received from deployed EMsensors. The tower 30 may also be used to house and position an EM fieldgenerator for detection by EM sensors in or on the medical instrument.

The tower 30 may also include a console 31 in addition to other consolesavailable in the rest of the system, e.g., console mounted on top of thecart. The console 31 may include a user interface and a display screen,such as a touchscreen, for the physician operator. Consoles in system 10are generally designed to provide both robotic controls as well aspre-operative and real-time information of the procedure, such asnavigational and localization information of the endoscope 13. When theconsole 31 is not the only console available to the physician, it may beused by a second operator, such as a nurse, to monitor the health orvitals of the patient and the operation of system, as well as provideprocedure-specific data, such as navigational and localizationinformation.

The tower 30 may be coupled to the cart 11 and endoscope 13 through oneor more cables or connections (not shown). In some embodiments, thesupport functionality from the tower 30 may be provided through a singlecable to the cart 11, simplifying and de-cluttering the operating room.In other embodiments, specific functionality may be coupled in separatecabling and connections. For example, while power may be providedthrough a single power cable to the cart, the support for controls,optics, fluidics, and/or navigation may be provided through a separatecable.

FIG. 2 provides a detailed illustration of an embodiment of the cartfrom the cart-based robotically-enabled system shown in FIG. 1 . Thecart 11 generally includes an elongated support structure 14 (oftenreferred to as a “column”), a cart base 15, and a console 16 at the topof the column 14. The column 14 may include one or more carriages, suchas a carriage 17 (alternatively “arm support”) for supporting thedeployment of one or more robotic arms 12 (three shown in FIG. 2 ). Thecarriage 17 may include individually configurable arm mounts that rotatealong a perpendicular axis to adjust the base of the robotic arms 12 forbetter positioning relative to the patient. The carriage 17 alsoincludes a carriage interface 19 that allows the carriage 17 tovertically translate along the column 14.

The carriage interface 19 is connected to the column 14 through slots,such as slot 20, that are positioned on opposite sides of the column 14to guide the vertical translation of the carriage 17. The slot 20contains a vertical translation interface to position and hold thecarriage at various vertical heights relative to the cart base 15.Vertical translation of the carriage 17 allows the cart 11 to adjust thereach of the robotic arms 12 to meet a variety of table heights, patientsizes, and physician preferences. Similarly, the individuallyconfigurable arm mounts on the carriage 17 allow the robotic arm base 21of robotic arms 12 to be angled in a variety of configurations.

In some embodiments, the slot 20 may be supplemented with slot coversthat are flush and parallel to the slot surface to prevent dirt andfluid ingress into the internal chambers of the column 14 and thevertical translation interface as the carriage 17 vertically translates.The slot covers may be deployed through pairs of spring spoolspositioned near the vertical top and bottom of the slot 20. The coversare coiled within the spools until deployed to extend and retract fromtheir coiled state as the carriage 17 vertically translates up and down.The spring-loading of the spools provides force to retract the coverinto a spool when carriage 17 translates towards the spool, while alsomaintaining a tight seal when the carriage 17 translates away from thespool. The covers may be connected to the carriage 17 using, forexample, brackets in the carriage interface 19 to ensure properextension and retraction of the cover as the carriage 17 translates.

The column 14 may internally comprise mechanisms, such as gears andmotors, that are designed to use a vertically aligned lead screw totranslate the carriage 17 in a mechanized fashion in response to controlsignals generated in response to user inputs, e.g., inputs from theconsole 16.

The robotic arms 12 may generally comprise robotic arm bases 21 and endeffectors 22, separated by a series of linkages 23 that are connected bya series of joints 24, each joint comprising an independent actuator,each actuator comprising an independently controllable motor. Eachindependently controllable joint represents an independent degree offreedom available to the robotic arm. Each of the arms 12 have sevenjoints, and thus provide seven degrees of freedom. A multitude of jointsresult in a multitude of degrees of freedom, allowing for “redundant”degrees of freedom. Redundant degrees of freedom allow the robotic arms12 to position their respective end effectors 22 at a specific position,orientation, and trajectory in space using different linkage positionsand joint angles. This allows for the system to position and direct amedical instrument from a desired point in space while allowing thephysician to move the arm joints into a clinically advantageous positionaway from the patient to create greater access, while avoiding armcollisions.

The cart base 15 balances the weight of the column 14, carriage 17, andarms 12 over the floor. Accordingly, the cart base 15 houses heaviercomponents, such as electronics, motors, power supply, as well ascomponents that either enable movement and/or immobilize the cart. Forexample, the cart base 15 includes rollable wheel-shaped casters 25 thatallow for the cart to easily move around the room prior to a procedure.After reaching the appropriate position, the casters 25 may beimmobilized using wheel locks to hold the cart 11 in place during theprocedure.

Positioned at the vertical end of column 14, the console 16 allows forboth a user interface for receiving user input and a display screen (ora dual-purpose device such as, for example, a touchscreen 26) to providethe physician user with both pre-operative and intra-operative data.Potential pre-operative data on the touchscreen 26 may includepre-operative plans, navigation and mapping data derived frompre-operative computerized tomography (CT) scans, and/or notes frompre-operative patient interviews. Intra-operative data on display mayinclude optical information provided from the tool, sensor andcoordinate information from sensors, as well as vital patientstatistics, such as respiration, heart rate, and/or pulse. The console16 may be positioned and tilted to allow a physician to access theconsole from the side of the column 14 opposite carriage 17. From thisposition the physician may view the console 16, robotic arms 12, andpatient while operating the console 16 from behind the cart 11. Asshown, the console 16 also includes a handle 27 to assist withmaneuvering and stabilizing cart 11.

FIG. 3 illustrates an embodiment of a robotically-enabled system 10arranged for ureteroscopy. In a ureteroscopic procedure, the cart 11 maybe positioned to deliver a ureteroscope 32, a procedure-specificendoscope designed to traverse a patient's urethra and ureter, to thelower abdominal area of the patient. In ureteroscopy, it may bedesirable for the ureteroscope 32 to be directly aligned with thepatient's urethra to reduce friction and forces on the sensitive anatomyin the area. As shown, the cart 11 may be aligned at the foot of thetable to allow the robotic arms 12 to position the ureteroscope 32 fordirect linear access to the patient's urethra. From the foot of thetable, the robotic arms 12 may insert the ureteroscope 32 along thevirtual rail 33 directly into the patient's lower abdomen through theurethra.

After insertion into the urethra, using similar control techniques as inbronchoscopy, the ureteroscope 32 may be navigated into the bladder,ureters, and/or kidneys for diagnostic and/or therapeutic applications.For example, the ureteroscope 32 may be directed into the ureter andkidneys to break up kidney stone build up using laser or ultrasoniclithotripsy device deployed down the working channel of the ureteroscope32. After lithotripsy is complete, the resulting stone fragments may beremoved using baskets deployed down the ureteroscope 32.

FIG. 4 illustrates an embodiment of a robotically-enabled systemsimilarly arranged for a vascular procedure. In a vascular procedure,the system 10 may be configured such the cart 11 may deliver a medicalinstrument 34, such as a steerable catheter, to an access point in thefemoral artery in the patient's leg. The femoral artery presents both alarger diameter for navigation as well as relatively less circuitous andtortuous path to the patient's heart, which simplifies navigation. As ina ureteroscopic procedure, the cart 11 may be positioned towards thepatient's legs and lower abdomen to allow the robotic arms 12 to providea virtual rail 35 with direct linear access to the femoral artery accesspoint in the patient's thigh/hip region. After insertion into theartery, the medical instrument 34 may be directed and inserted bytranslating the instrument drivers 28. Alternatively, the cart may bepositioned around the patient's upper abdomen in order to reachalternative vascular access points, such as, for example, the carotidand brachial arteries near the shoulder and wrist.

B. Robotic System—Table.

Embodiments of the robotically-enabled medical system may alsoincorporate the patient's table. Incorporation of the table reduces theamount of capital equipment within the operating room by removing thecart, which allows greater access to the patient. FIG. 5 illustrates anembodiment of such a robotically-enabled system arranged for abronchoscopy procedure. System 36 includes a support structure or column37 for supporting platform 38 (shown as a “table” or “bed”) over thefloor. Much like in the cart-based systems, the end effectors of therobotic arms 39 of the system 36 comprise instrument drivers 42 that aredesigned to manipulate an elongated medical instrument, such as abronchoscope 40 in FIG. 5 , through or along a virtual rail 41 formedfrom the linear alignment of the instrument drivers 42. In practice, aC-arm for providing fluoroscopic imaging may be positioned over thepatient's upper abdominal area by placing the emitter and detectoraround table 38.

FIG. 6 provides an alternative view of the system 36 without the patientand medical instrument for discussion purposes. As shown, the column 37may include one or more carriages 43 shown as ring-shaped in the system36, from which the one or more robotic arms 39 may be based. Thecarriages 43 may translate along a vertical column interface 44 thatruns the length of the column 37 to provide different vantage pointsfrom which the robotic arms 39 may be positioned to reach the patient.The carriage(s) 43 may rotate around the column 37 using a mechanicalmotor positioned within the column 37 to allow the robotic arms 39 tohave access to multiples sides of the table 38, such as, for example,both sides of the patient. In embodiments with multiple carriages, thecarriages may be individually positioned on the column and may translateand/or rotate independent of the other carriages. While carriages 43need not surround the column 37 or even be circular, the ring-shape asshown facilitates rotation of the carriages 43 around the column 37while maintaining structural balance. Rotation and translation of thecarriages 43 allows the system to align the medical instruments, such asendoscopes and laparoscopes, into different access points on thepatient.

The arms 39 may be mounted on the carriages through a set of arm mounts45 comprising a series of joints that may individually rotate and/ortelescopically extend to provide additional configurability to therobotic arms 39. Additionally, the arm mounts 45 may be positioned onthe carriages 43 such that, when the carriages 43 are appropriatelyrotated, the arm mounts 45 may be positioned on either the same side oftable 38 (as shown in FIG. 6 ), on opposite sides of table 38 (as shownin FIG. 9 ), or on adjacent sides of the table 38 (not shown).

The column 37 structurally provides support for the table 38, and a pathfor vertical translation of the carriages. Internally, the column 37 maybe equipped with lead screws for guiding vertical translation of thecarriages, and motors to mechanize the translation of said carriagesbased the lead screws. The column 37 may also convey power and controlsignals to the carriage 43 and robotic arms 39 mounted thereon.

The table base 46 serves a similar function as the cart base 15 in cart11 shown in FIG. 2 , housing heavier components to balance the table/bed38, the column 37, the carriages 43, and the robotic arms 39. The tablebase 46 may also incorporate rigid casters to provide stability duringprocedures. Deployed from the bottom of the table base 46, the castersmay extend in opposite directions on both sides of the base 46 andretract when the system 36 needs to be moved.

Continuing with FIG. 6 , the system 36 may also include a tower (notshown) that divides the functionality of system 36 between table andtower to reduce the form factor and bulk of the table. As in earlierdisclosed embodiments, the tower may be provide a variety of supportfunctionalities to table, such as processing, computing, and controlcapabilities, power, fluidics, and/or optical and sensor processing. Thetower may also be movable to be positioned away from the patient toimprove physician access and de-clutter the operating room.Additionally, placing components in the tower allows for more storagespace in the table base for potential stowage of the robotic arms. Thetower may also include a console that provides both a user interface foruser input, such as keyboard and/or pendant, as well as a display screen(or touchscreen) for pre-operative and intra-operative information, suchas real-time imaging, navigation, and tracking information.

In some embodiments, a table base may stow and store the robotic armswhen not in use. FIG. 7 illustrates a system 47 that stows robotic armsin an embodiment of the table-based system. In system 47, carriages 48may be vertically translated into base 49 to stow robotic arms 50, armmounts 51, and the carriages 48 within the base 49. Base covers 52 maybe translated and retracted open to deploy the carriages 48, arm mounts51, and arms 50 around column 53, and closed to stow to protect themwhen not in use. The base covers 52 may be sealed with a membrane 54along the edges of its opening to prevent dirt and fluid ingress whenclosed.

FIG. 8 illustrates an embodiment of a robotically-enabled table-basedsystem configured for a ureteroscopy procedure. In ureteroscopy, thetable 38 may include a swivel portion 55 for positioning a patientoff-angle from the column 37 and table base 46. The swivel portion 55may rotate or pivot around a pivot point (e.g., located below thepatient's head) in order to position the bottom portion of the swivelportion 55 away from the column 37. For example, the pivoting of theswivel portion 55 allows a C-arm (not shown) to be positioned over thepatient's lower abdomen without competing for space with the column (notshown) below table 38. By rotating the carriage 35 (not shown) aroundthe column 37, the robotic arms 39 may directly insert a ureteroscope 56along a virtual rail 57 into the patient's groin area to reach theurethra. In ureteroscopy, stirrups 58 may also be fixed to the swivelportion 55 of the table 38 to support the position of the patient's legsduring the procedure and allow clear access to the patient's groin area.

In a laparoscopic procedure, through small incision(s) in the patient'sabdominal wall, minimally invasive instruments (elongated in shape toaccommodate the size of the one or more incisions) may be inserted intothe patient's anatomy. After inflation of the patient's abdominalcavity, the instruments, often referred to as laparoscopes, may bedirected to perform surgical tasks, such as grasping, cutting, ablating,suturing, etc. FIG. 9 illustrates an embodiment of a robotically-enabledtable-based system configured for a laparoscopic procedure. As shown inFIG. 9 , the carriages 43 of the system 36 may be rotated and verticallyadjusted to position pairs of the robotic arms 39 on opposite sides ofthe table 38, such that laparoscopes 59 may be positioned using the armmounts 45 to be passed through minimal incisions on both sides of thepatient to reach his/her abdominal cavity.

To accommodate laparoscopic procedures, the robotically-enabled tablesystem may also tilt the platform to a desired angle. FIG. 10illustrates an embodiment of the robotically-enabled medical system withpitch or tilt adjustment. As shown in FIG. 10 , the system 36 mayaccommodate tilt of the table 38 to position one portion of the table ata greater distance from the floor than the other. Additionally, the armmounts 45 may rotate to match the tilt such that the arms 39 maintainthe same planar relationship with table 38. To accommodate steeperangles, the column 37 may also include telescoping portions 60 thatallow vertical extension of column 37 to keep the table 38 from touchingthe floor or colliding with base 46.

FIG. 11 provides a detailed illustration of the interface between thetable 38 and the column 37. Pitch rotation mechanism 61 may beconfigured to alter the pitch angle of the table 38 relative to thecolumn 37 in multiple degrees of freedom. The pitch rotation mechanism61 may be enabled by the positioning of orthogonal axes 1, 2 at thecolumn-table interface, each axis actuated by a separate motor 3, 4responsive to an electrical pitch angle command. Rotation along onescrew 5 would enable tilt adjustments in one axis 1, while rotationalong the other screw 6 would enable tilt adjustments along the otheraxis 2.

For example, pitch adjustments are particularly useful when trying toposition the table in a Trendelenburg position, i.e., position thepatient's lower abdomen at a higher position from the floor than thepatient's lower abdomen, for lower abdominal surgery. The Trendelenburgposition causes the patient's internal organs to slide towards his/herupper abdomen through the force of gravity, clearing out the abdominalcavity for minimally invasive tools to enter and perform lower abdominalsurgical procedures, such as laparoscopic prostatectomy.

C. Instrument Driver & Interface.

The end effectors of the system's robotic arms comprise (i) aninstrument driver (alternatively referred to as “instrument drivemechanism” or “instrument device manipulator”) that incorporateelectro-mechanical means for actuating the medical instrument and (ii) aremovable or detachable medical instrument which may be devoid of anyelectro-mechanical components, such as motors. This dichotomy may bedriven by the need to sterilize medical instruments used in medicalprocedures, and the inability to adequately sterilize expensive capitalequipment due to their intricate mechanical assemblies and sensitiveelectronics. Accordingly, the medical instruments may be designed to bedetached, removed, and interchanged from the instrument driver (and thusthe system) for individual sterilization or disposal by the physician orthe physician's staff. In contrast, the instrument drivers need not bechanged or sterilized, and may be draped for protection.

FIG. 12 illustrates an example instrument driver. Positioned at thedistal end of a robotic arm, instrument driver 62 comprises of one ormore drive units 63 arranged with parallel axes to provide controlledtorque to a medical instrument via drive shafts 64. Each drive unit 63comprises an individual drive shaft 64 for interacting with theinstrument, a gear head 65 for converting the motor shaft rotation to adesired torque, a motor 66 for generating the drive torque, an encoder67 to measure the speed of the motor shaft and provide feedback to thecontrol circuitry, and control circuitry 68 for receiving controlsignals and actuating the drive unit. Each drive unit 63 beingindependent controlled and motorized, the instrument driver 62 mayprovide multiple (four as shown in FIG. 12 ) independent drive outputsto the medical instrument. In operation, the control circuitry 68 wouldreceive a control signal, transmit a motor signal to the motor 66,compare the resulting motor speed as measured by the encoder 67 with thedesired speed, and modulate the motor signal to generate the desiredtorque.

For procedures that require a sterile environment, the robotic systemmay incorporate a drive interface, such as a sterile adapter connectedto a sterile drape, that sits between the instrument driver and themedical instrument. The chief purpose of the sterile adapter is totransfer angular motion from the drive shafts of the instrument driverto the drive inputs of the instrument while maintaining physicalseparation, and thus sterility, between the drive shafts and driveinputs. Accordingly, an example sterile adapter may comprise of a seriesof rotational inputs and outputs intended to be mated with the driveshafts of the instrument driver and drive inputs on the instrument.Connected to the sterile adapter, the sterile drape, comprised of athin, flexible material such as transparent or translucent plastic, isdesigned to cover the capital equipment, such as the instrument driver,robotic arm, and cart (in a cart-based system) or table (in atable-based system). Use of the drape would allow the capital equipmentto be positioned proximate to the patient while still being located inan area not requiring sterilization (i.e., non-sterile field). On theother side of the sterile drape, the medical instrument may interfacewith the patient in an area requiring sterilization (i.e., sterilefield).

D. Medical Instrument.

FIG. 13 illustrates an example medical instrument with a pairedinstrument driver. Like other instruments designed for use with arobotic system, medical instrument 70 comprises an elongated shaft 71(or elongate body) and an instrument base 72. The instrument base 72,also referred to as an “instrument handle” due to its intended designfor manual interaction by the physician, may generally compriserotatable drive inputs 73, e.g., receptacles, pulleys or spools, thatare designed to be mated with drive outputs 74 that extend through adrive interface on instrument driver 75 at the distal end of robotic arm76. When physically connected, latched, and/or coupled, the mated driveinputs 73 of instrument base 72 may share axes of rotation with thedrive outputs 74 in the instrument driver 75 to allow the transfer oftorque from drive outputs 74 to drive inputs 73. In some embodiments,the drive outputs 74 may comprise splines that are designed to mate withreceptacles on the drive inputs 73.

The elongated shaft 71 is designed to be delivered through either ananatomical opening or lumen, e.g., as in endoscopy, or a minimallyinvasive incision, e.g., as in laparoscopy. The elongated shaft 66 maybe either flexible (e.g., having properties similar to an endoscope) orrigid (e.g., having properties similar to a laparoscope) or contain acustomized combination of both flexible and rigid portions. Whendesigned for laparoscopy, the distal end of a rigid elongated shaft maybe connected to an end effector comprising a jointed wrist formed from aclevis with an axis of rotation and a surgical tool, such as, forexample, a grasper or scissors, that may be actuated based on force fromthe tendons as the drive inputs rotate in response to torque receivedfrom the drive outputs 74 of the instrument driver 75. When designed forendoscopy, the distal end of a flexible elongated shaft may include asteerable or controllable bending section that may be articulated andbent based on torque received from the drive outputs 74 of theinstrument driver 75.

Torque from the instrument driver 75 is transmitted down the elongatedshaft 71 using tendons within the shaft 71. These individual tendons,such as pull wires, may be individually anchored to individual driveinputs 73 within the instrument handle 72. From the handle 72, thetendons are directed down one or more pull lumens within the elongatedshaft 71 and anchored at the distal portion of the elongated shaft 71.In laparoscopy, these tendons may be coupled to a distally mounted endeffector, such as a wrist, grasper, or scissor. Under such anarrangement, torque exerted on drive inputs 73 would transfer tension tothe tendon, thereby causing the end effector to actuate in some way. Inlaparoscopy, the tendon may cause a joint to rotate about an axis,thereby causing the end effector to move in one direction or another.Alternatively, the tendon may be connected to one or more jaws of agrasper at distal end of the elongated shaft 71, where tension from thetendon cause the grasper to close.

In endoscopy, the tendons may be coupled to a bending or articulatingsection positioned along the elongated shaft 71 (e.g., at the distalend) via adhesive, control ring, or other mechanical fixation. Whenfixedly attached to the distal end of a bending section, torque exertedon drive inputs 73 would be transmitted down the tendons, causing thesofter, bending section (sometimes referred to as the articulablesection or region) to bend or articulate. Along the non-bendingsections, it may be advantageous to spiral or helix the individual pulllumens that direct the individual tendons along (or inside) the walls ofthe endoscope shaft to balance the radial forces that result fromtension in the pull wires. The angle of the spiraling and/or spacingthere between may be altered or engineered for specific purposes,wherein tighter spiraling exhibits lesser shaft compression under loadforces, while lower amounts of spiraling results in greater shaftcompression under load forces, but also exhibits limits bending. On theother end of the spectrum, the pull lumens may be directed parallel tothe longitudinal axis of the elongated shaft 71 to allow for controlledarticulation in the desired bending or articulable sections.

In endoscopy, the elongated shaft 71 houses a number of components toassist with the robotic procedure. The shaft may comprise of a workingchannel for deploying surgical tools, irrigation, and/or aspiration tothe operative region at the distal end of the shaft 71. The shaft 71 mayalso accommodate wires and/or optical fibers to transfer signals to/froman optical assembly at the distal tip, which may include of an opticalcamera. The shaft 71 may also accommodate optical fibers to carry lightfrom proximally-located light sources, such as light emitting diodes, tothe distal end of the shaft.

At the distal end of the instrument 70, the distal tip may also comprisethe opening of a working channel for delivering tools for diagnosticand/or therapy, irrigation, and aspiration to an operative site. Thedistal tip may also include a port for a camera, such as a fiberscope ora digital camera, to capture images of an internal anatomical space.Relatedly, the distal tip may also include ports for light sources forilluminating the anatomical space when using the camera.

In the example of FIG. 13 , the drive shaft axes, and thus the driveinput axes, are orthogonal to the axis of the elongated shaft. Thisarrangement, however, complicates roll capabilities for the elongatedshaft 71. Rolling the elongated shaft 71 along its axis while keepingthe drive inputs 73 static results in undesirable tangling of thetendons as they extend off the drive inputs 73 and enter pull lumenswithin the elongate shaft 71. The resulting entanglement of such tendonsmay disrupt any control algorithms intended to predict movement of theflexible elongate shaft during an endoscopic procedure.

FIG. 14 illustrates an alternative design for an instrument driver andinstrument where the axes of the drive units are parallel to the axis ofthe elongated shaft of the instrument. As shown, a circular instrumentdriver 80 comprises four drive units with their drive outputs 81 alignedin parallel at the end of a robotic arm 82. The drive units, and theirrespective drive outputs 81, are housed in a rotational assembly 83 ofthe instrument driver 80 that is driven by one of the drive units withinthe assembly 83. In response to torque provided by the rotational driveunit, the rotational assembly 83 rotates along a circular bearing thatconnects the rotational assembly 83 to the non-rotational portion 84 ofthe instrument driver. Power and controls signals may be communicatedfrom the non-rotational portion 84 of the instrument driver 80 to therotational assembly 83 through electrical contacts may be maintainedthrough rotation by a brushed slip ring connection (not shown). In otherembodiments, the rotational assembly 83 may be responsive to a separatedrive unit that is integrated into the non-rotatable portion 84, andthus not in parallel to the other drive units. The rotational mechanism83 allows the instrument driver 80 to rotate the drive units, and theirrespective drive outputs 81, as a single unit around an instrumentdriver axis 85.

Like earlier disclosed embodiments, an instrument 86 may comprise of anelongated shaft portion 88 and an instrument base 87 (shown with atransparent external skin for discussion purposes) comprising aplurality of drive inputs 89 (such as receptacles, pulleys, and spools)that are configured to receive the drive outputs 81 in the instrumentdriver 80. Unlike prior disclosed embodiments, instrument shaft 88extends from the center of instrument base 87 with an axis substantiallyparallel to the axes of the drive inputs 89, rather than orthogonal asin the design of FIG. 13 .

When coupled to the rotational assembly 83 of the instrument driver 80,the medical instrument 86, comprising instrument base 87 and instrumentshaft 88, rotates in combination with the rotational assembly 83 aboutthe instrument driver axis 85. Since the instrument shaft 88 ispositioned at the center of instrument base 87, the instrument shaft 88is coaxial with instrument driver axis 85 when attached. Thus, rotationof the rotational assembly 83 causes the instrument shaft 88 to rotateabout its own longitudinal axis. Moreover, as the instrument base 87rotates with the instrument shaft 88, any tendons connected to the driveinputs 89 in the instrument base 87 are not tangled during rotation.Accordingly, the parallelism of the axes of the drive outputs 81, driveinputs 89, and instrument shaft 88 allows for the shaft rotation withouttangling any control tendons.

E. Navigation and Control.

Traditional endoscopy may involve the use of fluoroscopy (e.g., as maybe delivered through a C-arm) and other forms of radiation-based imagingmodalities to provide endoluminal guidance to an operator physician. Incontrast, the robotic systems contemplated by this disclosure canprovide for non-radiation-based navigational and localization means toreduce physician exposure to radiation and reduce the amount ofequipment within the operating room. As used herein, the term“localization” may refer to determining and/or monitoring the positionof objects in a reference coordinate system. Technologies such aspre-operative mapping, computer vision, real-time EM tracking, and robotcommand data may be used individually or in combination to achieve aradiation-free operating environment. In other cases, whereradiation-based imaging modalities are still used, the pre-operativemapping, computer vision, real-time EM tracking, and robot command datamay be used individually or in combination to improve upon theinformation obtained solely through radiation-based imaging modalities.

FIG. 15 is a block diagram illustrating a localization system 90 thatestimates a location of one or more elements of the robotic system, suchas the location of the instrument, in accordance to an exampleembodiment. The localization system 90 may be a set of one or morecomputer devices configured to execute one or more instructions. Thecomputer devices may be embodied by a processor (or processors) andcomputer-readable memory in one or more components discussed above. Byway of example and not limitation, the computer devices may be in thetower 30 shown in FIG. 1 , the cart shown in FIGS. 1-4 , the beds shownin FIGS. 5-10 , etc.

As shown in FIG. 15 , the localization system 90 may include alocalization module 95 that processes input data 91-94 to generatelocation data 96 for the distal tip of a medical instrument. Thelocation data 96 may be data or logic that represents a location and/ororientation of the distal end of the instrument relative to a frame ofreference. The frame of reference can be a frame of reference relativeto the anatomy of the patient or to a known object, such as an EM fieldgenerator (see discussion below for the EM field generator).

The various input data 91-94 are now described in greater detail.Pre-operative mapping may be accomplished through the use of thecollection of low dose CT scans. Pre-operative CT scans arereconstructed into three-dimensional images, which are visualized, e.g.,as “slices” of a cutaway view of the patient's internal anatomy. Whenanalyzed in the aggregate, image-based models for anatomical cavities,spaces and structures of the patient's anatomy, such as a patient lungnetwork, may be generated. Techniques such as center-line geometry maybe determined and approximated from the CT images to develop athree-dimensional volume of the patient's anatomy, referred to aspreoperative model data 91. The use of center-line geometry is discussedin U.S. patent application Ser. No. 14/523,760, the contents of whichare herein incorporated in its entirety. Network topological models mayalso be derived from the CT-images, and are particularly appropriate forbronchoscopy.

In some embodiments, the instrument may be equipped with a camera toprovide vision data 92. The localization module 95 may process thevision data to enable one or more vision-based location tracking. Forexample, the preoperative model data may be used in conjunction with thevision data 92 to enable computer vision-based tracking of the medicalinstrument (e.g., an endoscope or an instrument advance through aworking channel of the endoscope). For example, using the preoperativemodel data 91, the robotic system may generate a library of expectedendoscopic images from the model based on the expected path of travel ofthe endoscope, each image linked to a location within the model.Intra-operatively, this library may be referenced by the robotic systemin order to compare real-time images captured at the camera (e.g., acamera at a distal end of the endoscope) to those in the image libraryto assist localization.

Other computer vision-based tracking techniques use feature tracking todetermine motion of the camera, and thus the endoscope. Some feature ofthe localization module 95 may identify circular geometries in thepreoperative model data 91 that correspond to anatomical lumens andtrack the change of those geometries to determine which anatomical lumenwas selected, as well as the relative rotational and/or translationalmotion of the camera. Use of a topological map may further enhancevision-based algorithms or techniques.

Optical flow, another computer vision-based technique, may analyze thedisplacement and translation of image pixels in a video sequence in thevision data 92 to infer camera movement. Examples of optical flowtechniques may include motion detection, object segmentationcalculations, luminance, motion compensated encoding, stereo disparitymeasurement, etc. Through the comparison of multiple frames overmultiple iterations, movement and location of the camera (and thus theendoscope) may be determined.

The localization module 95 may use real-time EM tracking to generate areal-time location of the endoscope in a global coordinate system thatmay be registered to the patient's anatomy, represented by thepreoperative model. In EM tracking, an EM sensor (or tracker) comprisingof one or more sensor coils embedded in one or more locations andorientations in a medical instrument (e.g., an endoscopic tool) measuresthe variation in the EM field created by one or more static EM fieldgenerators positioned at a known location. The location informationdetected by the EM sensors is stored as EM data 93. The EM fieldgenerator (or transmitter), may be placed close to the patient to createa low intensity magnetic field that the embedded sensor may detect. Themagnetic field induces small currents in the sensor coils of the EMsensor, which may be analyzed to determine the distance and anglebetween the EM sensor and the EM field generator. These distances andorientations may be intra-operatively “registered” to the patientanatomy (e.g., the preoperative model) in order to determine thegeometric transformation that aligns a single location in the coordinatesystem with a position in the pre-operative model of the patient'sanatomy. Once registered, an embedded EM tracker in one or morepositions of the medical instrument (e.g., the distal tip of anendoscope) may provide real-time indications of the progression of themedical instrument through the patient's anatomy.

Robotic command and kinematics data 94 may also be used by thelocalization module 95 to provide localization data 96 for the roboticsystem. Device pitch and yaw resulting from articulation commands may bedetermined during pre-operative calibration. Intra-operatively, thesecalibration measurements may be used in combination with known insertiondepth information to estimate the position of the instrument.Alternatively, these calculations may be analyzed in combination withEM, vision, and/or topological modeling to estimate the position of themedical instrument within the network.

As FIG. 15 shows, a number of other input data can be used by thelocalization module 95. For example, although not shown in FIG. 15 , aninstrument utilizing shape-sensing fiber can provide shape data that thelocalization module 95 can use to determine the location and shape ofthe instrument.

The localization module 95 may use the input data 91-94 incombination(s). In some cases, such a combination may use aprobabilistic approach where the localization module 95 assigns aconfidence weight to the location determined from each of the input data91-94. Thus, where the EM data may not be reliable (as may be the casewhere there is EM interference) the confidence of the locationdetermined by the EM data 93 can be decrease and the localization module95 may rely more heavily on the vision data 92 and/or the roboticcommand and kinematics data 94.

As discussed above, the robotic systems discussed herein may be designedto incorporate a combination of one or more of the technologies above.The robotic system's computer-based control system, based in the tower,bed and/or cart, may store computer program instructions, for example,within a non-transitory computer-readable storage medium such as apersistent magnetic storage drive, solid state drive, or the like, that,upon execution, cause the system to receive and analyze sensor data anduser commands, generate control signals throughout the system, anddisplay the navigational and localization data, such as the position ofthe instrument within the global coordinate system, anatomical map, etc.

2. Introduction to Uncommanded Instrument Roll Correction

Embodiments of the disclosure relate to systems and techniques that canbe used to correct for uncommanded instrument movement, which in certainembodiments involve correcting uncommanded instrument roll. When anoperator (e.g., a physician, a surgeon, a bronchoscopist, or a roboticcontrol system) controls a flexible tubular instrument inside thepatient's body, the instrument may move in manner that changes theorientation of the instrument. For example, the instrument may roll orrotate (e.g., with respect to a longitudinal axis of the instrument)independent of the operator's command(s). Such uncommanded movement mayoccur in various situations such as, for example, when a flexibletubular instrument is inserted through an endotracheal tube and/or whenthe instrument passes through a curved anatomical structure and conformsits shape to the structure. This uncommanded roll can pose one or morecoordination problems for the operator of the flexible tubularinstrument because the uncommanded roll may render a visual frame ofreference and/or a control frame of reference inconsistent with what theoperator desires or expects. Certain embodiments disclosed herein arerelated to methods and systems for correcting for such unintendedinstrument movement.

As discussed above, electromagnetic (EM) data may be used by embodimentsdiscussed herein for navigation and localization of a medical instrument(e.g., a steerable instrument). EM data may be generated by one or moreEM sensors located within the medical instrument and/or one or more EMpatch sensors placed on a patient. FIG. 16 illustrates an exampleoperating environment 100 implementing one or more aspects of thedisclosed systems and techniques to detect and/or correct foruncommanded roll using EM data. The operating environment 100 includes atable 38 supporting a patient, EM sensors 105 (also referred to as “EMpatch sensors” so as to be distinguished from EM instrument sensorslocated on a medical instrument as discussed below), and an EM fieldgenerator 110. Additional devices/elements may also be included, buthave not been illustrated in FIG. 16 . For example, the environment 100may also include: a robotic system configured to guide movement of amedical instrument, a command center or console for controllingoperations of the robotic system, and an EM controller, among others.The EM controller may be electrically connected to EM patch sensors 105to receive EM sensor signals therefrom. The EM controller may further beconnected to the EM field generator 110 to provide control signalsthereto for generating the EM field. In certain embodiments, the EMcontroller may be partially or completely incorporated into one or moreof the other processing device of the system, including the EM fieldgenerator 110, the cart 11 (see FIG. 1 ), and/or the tower 30 (see FIG.1 ).

When included, the EM controller may control EM field generator 110 toproduce a varying EM field. The EM field may be time-varying and/orspatially varying, depending upon the embodiment. The EM field generator110 may be located on a cart, similar to the cart 11 illustrated in FIG.2 , or may be attached to a rail of the table 38 via one or moresupporting columns. In other embodiments, an EM field generator 110 maybe mounted on a robotic arm, for example similar to those shown insurgical robotic system 10 of FIG. 1 , which can offer flexible setupoptions around the patient. The EM field generator 110 may have anassociated working volume in which the EM patch sensors 105 may beplaced when in use.

An EM spatial measurement system may determine the location of objectswithin the EM field that are embedded or provided with EM sensor coils,for example, EM patch sensors 105 (as shown in FIG. 16 ) or EMinstrument sensors 305 (as shown in FIG. 18 below). When an EM sensor isplaced inside a controlled, varying EM field as described herein,voltages are induced in sensor coil(s) included in the EM sensor. Theseinduced voltages can be used by the EM spatial measurement system tocalculate the position and orientation of the EM sensor and thus theobject having the EM sensor. As the EM fields are of a low fieldstrength and can safely pass through human tissue, location measurementof an object is possible without the line-of-sight constraints of anoptical spatial measurement system. The EM field may be defined relativeto a coordinate frame of the EM field generator 110, and a coordinateframe of a 3D model of the luminal network can be mapped or registeredto the coordinate frame of the EM field. The EM spatial measurementsystem may be implemented in a robotically controlled system (e.g.,system 10, 36 or 47), an instrument driver (e.g., instrument driver 62),a controller (e.g., control circuitry 68), a console (e.g., console 16or 31), and/or a console base (e.g., cart base 15), or component(s)thereof.

As shown in FIG. 16 , a number of EM patch sensors 105 may be placed onor near the body of the patient (e.g., in the region of a luminalnetwork 140, see FIG. 17 ). A number of different EM patch sensors 105may be spaced apart on the body surface in order to track the differentdisplacements at these locations. For example, the periphery of thelungs may exhibit greater motion due to respiration than the centralairways, and providing a number of EM patch sensors 105 as shown canenable more precise analysis of these motion effects. This may allow foraccurate tracking of the distal end of an endoscope that may travelthrough different regions of the luminal network 140 and thus experiencevarying levels of displacement due to patient respiration as it travelsthrough these different regions.

The EM sensor signals received from the EM patch sensors 105 may be usedto determine the positions and orientations of the EM patch sensors 105with respect to the EM field generator 110. The EM patch sensors 105 mayprovide 5 degrees-of-freedom (DoF) data for each of the patch sensors(e.g., 3 positional DoF and 2 angular DoF) or 6 DoF data (e.g., 3positional DoF and 3 angular DoF).

FIG. 17 illustrates an example luminal network 140 that can be navigatedin, for example, the operating environment 100 of FIG. 16 . Asillustrated, the luminal network 140 includes a branched structure ofairways 150 of the patient and a nodule 155 that can be accessed asdescribed herein for diagnosis and/or treatment. In this example, thenodule 155 is located at a periphery of the airways 150. An endoscope115 may comprise a sheath 120 and a leader 145. In one embodiment, thesheath 120 and the leader 145 may arranged in a telescopic manner. Forexample, the leader 145 may be slidably positioned inside a workingchannel of the sheath 120. The sheath 120 can have a first diameter, andits distal end may not be able to be positioned through thesmaller-diameter airways 150 around the nodule 155. Accordingly, theleader 145 can be configured to extend from the working channel of thesheath 120 the remaining distance to the nodule 155. The leader 145 mayhave a lumen through which instruments, for example biopsy needles,cytology brushes, and/or tissue sampling forceps, can be passed to thetarget tissue site of the nodule 155. In such implementations, both thedistal end of the sheath 120 and the distal end of the leader 145 can beprovided with EM instrument sensors (e.g., EM instrument sensors 305 inFIG. 18 ) for tracking their position within the airways 150. Thistelescopic arrangement of the sheath 120 and the leader 145 may, in someembodiments, allow for a thinner design of the endoscope 115 and mayimprove a bend radius of the endoscope 115 while providing a structuralsupport via the sheath 120.

In other embodiments, the overall diameter of the endoscope 115 may besmall enough to reach the periphery without the telescopic arrangement,or may be small enough to get close to the periphery (e.g., within 2.5-3cm) to deploy medical instruments through a non-steerable catheter. Themedical instruments deployed through the endoscope 115 may be equippedwith EM instrument sensors (e.g., EM instrument sensors 305 in FIG. 18), and the position filtering and safety-mode navigation techniquesdescribed below can be applied to such medical instruments. In someembodiments, a 2D display of a 3D luminal network model as describedherein, or a cross-section of a 3D model, can resemble FIG. 17 . In someembodiments, navigation safety zones and/or navigation path informationcan be overlaid onto such a representation.

FIG. 18 illustrates the distal end 300 of an example instrument (e.g.,endoscope 115, sheath 120, or leader 145 of FIG. 17 , and/or medicalinstrument 70 or endoscope 13 of FIG. 1 ) that can include imaging andEM sensing capabilities as described herein. However, aspects of thisdisclosure may relate to the use of other steerable instruments, such asureteroscope 32 of FIG. 3 , laparoscope 59 of FIG. 9 , etc. As shown inFIG. 18 , the distal end 300 of the instrument can include an imagingdevice 315, illumination sources 310, and ends of coils of EM sensors305. The distal end 300 can further include an opening to a workingchannel 320 of the instrument through which tools (e.g., biopsy needles,cytology brushes, and forceps) may be inserted along the instrumentshaft, allowing access to the area near the distal end 300 of theinstrument.

The illumination sources 310 can provide light to illuminate a portionof an anatomical space. The illumination sources can each be one or morelight-emitting devices configured to emit light at a selected wavelengthor range of wavelengths. The wavelengths can be any suitable wavelength,for example visible spectrum light, infrared light, x-ray (e.g., forfluoroscopy), to name a few examples. In some embodiments, illuminationsources 310 can include light-emitting diodes (LEDs) located at or nearthe distal end 310. In some embodiments, illumination sources 310 caninclude one or more fiber optic fibers extending through a length of theendoscope to transmit light through the distal end 300 from a remotelight source, for example an X-ray generator. Where the distal end 300includes multiple illumination sources 310 these can each be configuredto emit the same or different wavelengths of light.

The imaging device 315 can include any photosensitive substrate orstructure configured to convert energy representing received light intoelectric signals, for example a charge-coupled device (CCD) orcomplementary metal-oxide semiconductor (CMOS) image sensor. Someexamples of imaging device 315 can include one or more optical fibers,for example a fiber optic bundle, configured to transmit an image fromthe distal end 300 of the endoscope to an eyepiece and/or image sensorat the proximal end of the endoscope. Imaging device 315 canadditionally include one or more lenses and/or wavelength pass or cutofffilters as required for various optical designs. The light emitted fromthe illumination sources 310 allows the imaging device 315 to captureimages of the interior of a patient's luminal network. These images canthen be transmitted as individual frames or series of successive frames(e.g., a video) to a computer system such as a command console forprocessing and/or display.

EM sensors 305 located on the distal end 300 can be used with an EMtracking system to detect the position and/or orientation of the distalend 300 of the endoscope while it is positioned within an anatomicalsystem. In some embodiments, the EM sensors 305 may be angled to providesensitivity to EM fields along different axes, giving the disclosednavigational systems the ability to measure a full 6 DoF: threepositional DoF and three angular DoF. In other embodiments, only asingle coil or sensor may be disposed on or within the distal end 300with its axis oriented along the endoscope shaft of the endoscope. Whenonly a single EM coil or sensor is placed on the distal end 300 of theinstrument, rendering the system symmetric with respect to its axis(e.g., its longitudinal axis), the system may not detect one or morerolls with respect to its axis because such roll(s) do not changemagnetic flux or electric flux across the single coil or sensor. Due tothe rotational symmetry of such a system, it may be insensitive to rollabout its axis, so only 5 DoF may be detected in such an implementation.The system may be sensitive to roll(s) with respect to its axis when thesystem comprises two or more coils or sensors having symmetry axes thatare not parallel, (e.g., symmetry axes that are perpendicular to oneanother). For the system with one or more EM coils or sensors notsensitive to roll(s) with respect to its axis, the uncommanded roll maybe detected via one or more sensors or detectors other than EM coils. Insome embodiments, the uncommanded roll may be determined by analyzingone or more images from an imaging device (e.g., the imaging device 315or imaging device at or near the distal end of the instrument).

FIGS. 19A-19B illustrate a tip frame of reference, a visual framereference, a control frame reference, and a desired frame of referenceof an example medical instrument (e.g., medical instrument 350, medicalinstrument 70 or endoscope 13 of FIG. 1 ). FIG. 19A shows a tip frame ofreference 360 and a desired frame of reference 368 of a medicalinstrument 350 in a three dimensional (3D) space. The medical instrument350 has a distal tip 352 that comprises one or more components similarto those of the distal end 300 of the medical instrument shown in FIG.18 (e.g., imaging device 356 and/or EM sensor coils 358). The medicalinstrument 350 may also comprise one or more pullwires 354 configured tomanipulate or articulate the distal tip 352 of the instrument 350. Thetip frame of reference 360 may represent an orientation of the distalend 352 of the instrument 350. The tip frame of reference 360 comprisesthe x-axis 362, the y-axis 364, and the z-axis 366. As will be explainedin greater detail below, the tip frame of reference 360 may bedetermined by one or more imaging devices (e.g., imaging device 356),location sensors (e.g., EM patch sensors 105), EM coils (e.g., EM sensorcoils 358), any other suitable sensor (e.g., an accelerometer measuringthe force of gravity or other motions of the instrument 350), orcombinations thereof.

The desired frame of reference 368 can be a frame of reference on whichan adjustment to the visual frame of reference and/or the control frameof reference is based. In some embodiments, the desired frame ofreference 368 may be a target frame of reference to which a system or anoperator aims to transform the visual frame of reference and/or thecontrol frame of reference. The system can cause this transformation toexecute based on a trigger—such as a request (as may be initiated andreceived from a user input)—or the system can cause this transformationto execute on an ongoing basis so that a consistent view and control ismaintained during a medical procedure. The desired frame of reference368 may be an anatomical frame of reference (e.g., a frame of referencedetermined by an anatomical feature) or a world frame of reference(e.g., a frame of reference determined by the direction of gravity). InFIG. 19A, the desired frame of reference 368 is represented by atriangular pyramid with an apex 369 pointing at a reference direction(e.g., an up direction or a z-direction).

FIG. 19B illustrates the desired frame of reference 368, the visualframe of reference 380, and the control frame of reference 390 of themedical instrument 350 as shown in one or more images from the imagingdevice 356 at the distal end 352 of the medical instrument 350. Thevisual frame of reference 380 represents an orientation of an outputimage generated from an image captured from the imaging device 356 ofthe medical device 350. In FIG. 19B, the visual frame of reference 380is aligned to the desired frame of reference 368, represented by thetriangular pyramid shown in the visual frame of reference 380. In otherwords, the apex 369 of the triangular pyramid representing the updirection corresponds to the up direction of the visual frame ofreference 380. It is to be noted, and is explained further below, thatthe visual frame of reference 380 may be adjusted based on changes tothe tip frame of reference 360 in such a way that the output image isconsistent with the desired frame of reference 368 despite changes tothe tip frame of reference 360, as may be experienced during anuncommanded roll.

The control frame of reference 390 is data that represents arelationship between a motor control command and a motor output of theinstrument 350. In FIG. 19B, the control frame of reference 390 isrepresented by control frame indicators 392, 394, 396, and 398. It is tobe appreciated that the control frame indicators 392, 394, 396, and 398are shown merely to illustrate the direction of movement in which acontrol input will cause the medical device 350 to actuate. For example,pressing the up direction on the user input device will cause the tip ofthe medical device 350 to actuate up in a manner represented by controlframe indicator 392. In some embodiments, the control frame indicators392, 394, 396, and 398 may be displayed on the screen. In thoseembodiments, the control frame indicators 392, 394, 396, and 398 maycomprise one or more shapes (e.g., arrows, dots, or triangles)representing directions toward which an operator (e.g., a physician, asurgeon, a bronchoscopist, or a robotic control system) may command themedical instrument 350 to move (e.g., up, down, left, and right,respectively). Similar to the visual frame of reference 380, it is to benoted, and is explained further below, that the control frame ofreference 390 may be adjusted based on changes to the tip frame ofreference 360 in such a way that a motor control command is consistentwith the desired frame of reference 368 despite changes to the tip frameof reference 360, as may be experienced during an uncommanded roll.

FIGS. 20A-20B illustrate changes in a tip frame of reference 460, avisual frame reference 480, a control frame reference 490, and a desiredframe of reference 468 of an example medical instrument (e.g., medicalinstrument 450). FIG. 20A shows the tip frame of reference 460 and thedesired frame of reference 468 of the medical instrument 450 in a 3Dspace after an occurrence of an uncommanded roll but without anycorrection. In the illustrated example, a distal tip 452 of the medicalinstrument 450 shows that the distal tip 452 is oriented diagonally dueto the uncommanded roll. Accordingly, the tip frame of reference 460,which comprises the x-axis 462, the y-axis 464, and the z-axis 466, isalso oriented in a diagonal direction. The desired frame of reference468 is represented by a triangular pyramid with an apex 469 pointingupward.

FIG. 20B illustrates the desired frame of reference 468, the visualframe of reference 480, and the control frame of reference 490 of themedical instrument 450 as shown in one or more images from the imagingdevice 456 at the distal end 452 of the medical instrument 450 based onthe uncommanded roll illustrated in FIG. 20A, again without anycorrection. As shown in FIG. 20B, the visual frame of reference 480, andthe control frame of reference 490 (represented by the control frameindicators 492, 494, 496, and 498) of the medical instrument 450 are notconsistent with the desired frame of reference 368. Such inconsistenciesmay result in a disorienting experience for the end-user. For example,without commanding a roll, the images displayed by the medical devicewill be at an orientation inconsistent with the end-user's expectation.As can be seen in this example, the control frame indicator 492 (which,in some embodiments, operators anticipate will be an upward direction)is not aligned with the upward direction of the desired frame ofreference 468 (as indicated by the apex 469) due to the uncommanded rollof the medical instrument 450.

In contrast with FIGS. 20A-20B, FIGS. 21A-21B illustrate the tip frameof reference 460′, the visual frame reference 480′, the control framereference 490′, and a desired frame of reference 468′ of an examplemedical instrument (e.g., medical instrument 450) after a correction foran uncommanded roll. FIG. 21A shows the tip frame of reference 460(represented by the x-axis 462, the y-axis 464, and the z-axis 466) andthe desired frame of reference 468 of the medical instrument 450 in a 3Dspace. The correction for an uncommanded roll may comprise one or moreadjustments to the visual frame of reference 480 and the control frameof reference 468, which will be described below, and, in someembodiments, the adjustments to the visual frame of reference 480 andthe control frame of reference 490 may occur without change(s) in thetip frame of reference 460. FIG. 20B illustrates the desired frame ofreference 468′, the visual frame of reference 480′, and the controlframe of reference 490′ of the medical instrument 450 (represented bythe control frame indicators 492′, 494′, 496′, and 498′) as shown in oneor more images from the imaging device 456 at the distal end 452 of themedical instrument 450 after the uncommanded roll correction. During theadjustment, the visual frame of reference 480′ and the control frame ofreference 490′ of the medical instrument 450 are rotated such that theapex 469 of the triangular pyramid representing the desired frame ofreference 468′ is displayed so that the apex 469 points upward, and thecontrol frame indicators 492′, 494′, 496′, and 498′ continue torepresent the up, down, left, and right directions, respectively, withrespect to the desired frame of reference 468′. This adjustment mayassist in nimble and consistent manipulation of the medical instrument450 by the operator by, for example, orienting the visual framereference 480′ and the control frame reference 490′ in a direction thatis intuitive to the operator. One or more methods to adjust or transformthe visual frame of reference and/or the control frame of referencebased on the tip frame of reference and/or the desired frame ofreference is further described below.

In accordance with one or more aspects of the present disclosure, FIG.22 depicts a flowchart of an example method or process 600 forcorrecting for uncommanded instrument roll as described herein. Asdescribed herein, the process 600 may be used to adjust or transform avisual frame of reference and/or a control frame of reference based onthe tip frame of reference and/or the desired frame of reference so thatcontrol of the instrument is more intuitive. For example, the process600 may align the visual frame of reference and/or the control frame ofreference with the directions anticipated or expected by the user,regardless of uncommanded roll of the instrument of the position of thetip frame of reference. The process 600 can be implemented, for example,in a robotically controlled system (e.g., system 10, 36 or 47), aninstrument driver (e.g., instrument driver 62), a controller (e.g.control circuitry 68), a console (e.g., console 16 or 31), and/or aconsole base (e.g., cart base 15), or component(s) thereof. Thus, thesystem implementing the process 600 described below is not limited to arobotically controlled system. In some cases, one or more blocks of theexample process 600 may be performed by a user of the system.

The process 600 may begin at block 605. At block 605, the system mayobtain or determine a tip frame of reference (e.g., tip frame ofreference 360 in FIG. 19A or tip frame of reference 460 in FIGS. 20A and21A) of a medical instrument (e.g., medical instrument 150, 350, or450). As described above in FIGS. 19A-21B, the tip frame of referencemay represent a physical orientation of a distal end of the medicalinstrument. In some aspects, the system may be configured to obtain thetip frame of reference from, for example, the one or more sensors on themedical instrument. For example, the system may be configured to obtaindata from one or more imaging devices, location sensors, or EM coils orsensors and to calculate the tip frame of reference based on the data.In a vision-based example, the tip frame of reference may be determinedby analyzing one or more images (e.g., one or more images from theimaging device). During the analysis of the images, one or moreanatomical features of the patient may be used to determine the tipframe of reference. As is explained further below, the anatomicalfeatures can be features that characterize features shown inintraoperative image data. In a positional based example, the tip frameof reference may be determined based data from a location sensor on themedical instrument and EM patch sensors attached to the patient orequipment located near the patient (e.g., the operating bed).

At block 610, the system may obtain or determine a desired frame ofreference (e.g., desired frame of reference 368 or 468). Similar toobtaining the tip frame of reference, the desired frame of reference maybe determined based an anatomical frame of reference (e.g., based on theanatomy of the patient), a world frame of reference (e.g., based on afeature of the world, such as the direction of gravity), or the like.Other embodiments may use other frames of reference. In cases where thedesired frame of reference is determined from an anatomical frame ofreference, the desired frame of reference may be based on one or moreanatomical features of the patient derived from preoperative data (e.g.,one or more anatomical models) or assumptions on the characteristics ofan anatomical feature. For example, prior to the procedure, a model ofthe patient's anatomy may be generated and processed to determinefeatures of the anatomy to determine the desired frame of reference.Such a feature could be based on the orientation of the center points ofthe airways at a given location in the model. Additionally oralternatively, rather than using features derived from a model of thepatient's anatomy, embodiments may determine a desired frame ofreference based on an assumption or known characteristic of thepatient's anatomy. One such assumed or known characteristic is thecenterlines of the left bronchus and right bronchus in the main carinaare substantially aligned in the horizontal axis. An exemplary processfor determining a desired frame of reference based on a feature of theanatomy (e.g., derived from preoperative data or assumed/known) of thepatient is described below in FIG. 25 .

As just mentioned, some embodiments may derive the desired frame ofreference from a frame of reference derived from static patch sensorslocated near the patient (e.g., on the bed or attached to the chest ofthe patient). In these embodiments, the system can detect the directionof gravity based on, for example, a plane formed by the patch sensors.For example, where the patches are placed on the patient's chest or thebed of the operating table, the negative z-direction of the plane formedby the multiple patches may be assumed to be the direction of gravity.The system may then operate such that the desired frame of reference isrelative (e.g., aligned) to the direction of gravity. Some embodimentsusing patch sensors to determine a desired frame of reference arediscussed in greater detail with reference to FIG. 23 .

At block 615, the system may determine an adjustment to a visual frameof reference (e.g., visual frame of reference 380 or 480) and/or acontrol frame of reference (e.g., control frame of reference 390 or 490)based on the current tip frame of reference relative to the desiredframe of reference. The adjustment may be determined based on adifference between the tip frame of reference and the desired frame ofreference and making corresponding adjustments to the visual frame ofreference and/or the control frame of reference. Exemplary adjustmentprocesses in which the adjustments to the visual frame of reference andthe control frame of reference are determined based on the desired frameof reference are described in FIGS. 19A-21B and FIGS. 24A-24D.

At block 620, the system may transform the visual frame of referenceand/or the control frame of reference based on the determinedadjustment. In some embodiments, the system may transform the visualframe of reference and/or the control frame of reference by rotating thevisual frame of reference and/or the control frame of reference withrespect to a longitudinal axis of the medical instrument. In someembodiments, the system may transform the visual frame of referenceand/or the control frame of reference by rotating the visual frame ofreference and/or the control frame of reference until it is aligned withthe desired frame of reference. In some embodiments, the system maytransform the visual frame of reference and/or the control frame ofreference based on a user input. In some embodiments, the system maytransform the visual frame of reference and/or the control frame ofreference by rotating the visual frame of reference and/or the controlframe of reference to reduce the effects of roll of the distal end ofthe instrument or the accumulated roll of the tip frame of reference.

At block 625, the system may further verify the transformed visual frameof reference and/or the transformed control frame of reference. In someembodiments, the system may verify the transformed visual frame ofreference and/or the transformed control frame of reference by movingthe instrument in one or more directions, calculating or determining anexpected change in the visual frame of reference and/or the controlframe of reference in response to the movement of the instrument, andcomparing an actual change in the visual frame of reference and/or thecontrol frame of reference and the expected change. In some embodiments,moving the instrument in one or more directions may comprise moving theinstrument in a particular sequence of movements. In some aspects, avisual motion detection method (e.g., optical flow) may be used tocompare between an actual change in the visual frame of reference and/orthe control frame of reference and the expected change. In some aspects,the visual motion detection method may check whether an image from thedistal end of the instrument moved in the same direction (or the samemanner) as the instrument. In some aspects, the system may furtheradjust the visual frame of reference and/or the control frame ofreference based on the comparison. The verification step may beparticularly useful when, for example, the instrument roll is greaterthan 180 degrees.

It is to be appreciated that where the system includes telescopingmedical instruments where multiple of the instruments may bearticulable, similar adjustments to the visual frame of reference and/orcontrol frame of reference may be made. For example, the determinedadjustment made for one instrument may be applied to the otherinstruments. In some embodiments, individual telescoping instruments maybe adjusted independently.

In related aspects, the system may be configured to transform a controlframe of the medical instrument configured to be inserted into apatient. The system may comprise a control system configured todetermine movement of the medical instrument, at least onecomputer-readable memory having stored thereon executable instructions,and one or more processors in communication with the at least onecomputer-readable memory and configured to execute the instructions tocause the system to at least: obtain a control frame of referencerepresenting relationship between a motor control command and a motoroutput of the medical instrument, determine a tip frame of referencebased on data from at least one imaging device (e.g., imaging device315, 356, or 456) or location sensor (e.g., EM coils 305 or 358, or EMpatch sensors 105, 670, 672, or 674) at or near a distal end of themedical instrument, the tip frame of reference representing a currentorientation of the distal end of the medical instrument; obtain adesired frame of reference; and transform the control frame of referencebased on the tip frame of reference and/or the desired frame ofreference.

FIG. 23 describes a desired frame of reference 680 that may bedetermined based on EM patch sensors, in accordance with one embodiment.FIG. 23 illustrates an approach for obtaining a desired frame ofreference that may be determined from a world frame of reference. Asshown in FIG. 23 , one or more EM patch sensors (e.g., EM patch sensors670, 672, and 674) may be placed on or near a patient (e.g., on apatient as shown by EM patch sensors 105 of FIG. 16 , or on a bed onwhich the patient is lying). The EM patch sensors 670, 672, and 674 mayform a plane 676 represented by a triangle whose vertices are at thelocations of the EM patch sensors 670, 672, and 674. The desired frameof reference 680 may be determined based on the plane 676. In oneembodiment, the x-axis 682 and the y-axis 684 may be parallel or in theplane 676, and the z-axis 686 may be perpendicular to the plane 676. Insome aspects, the desired frame of reference 680 may be such that thenegative z-axis of the frame of reference 680 (i.e., the directionopposite to the z-axis 686) may align or be at least roughly consistentwith the direction of the gravitational force (e.g., when the patient islying facing upward, and the EM patch sensors are placed on the body ofthe patient).

Adjusting the visual frame of reference and the control frame ofreference using an anatomy-based approach will now be discussed. Inaccordance with one or more aspects of the present disclosure, FIGS.24A-24D illustrate example user interfaces 780, 800, 820, and 840 thatcan be presented to a user during a process for correcting foruncommanded instrument roll (e.g., process 600 in FIG. 22 ) as describedherein. For example, the user interfaces 780, 800, 820, or 840 can bepresented on the display screen of the console 16 or 31 in someembodiments.

FIG. 24A illustrates an example user interface 780 that can be presentedto a user before a medical instrument (e.g., medical instrument 350 or450, medical instrument 70, or endoscope 13) is inserted into thepatient. The example user interface 780 comprises a visual display 782,and one or more control frame indicators 790, 792, 794, and 796. Thevisual display 782 shows one or more images obtained from an imagingdevice (e.g., imaging device 315, 356, or 456) at or near the distal endof the medical instrument. As the medical instrument is not insertedinto the patient, the visual display 782 shows an image of an outsideworld (e.g., an operating room). It is to be appreciated that thecontrol frame indicators 790, 792, 794, and 796 are shown here toillustrate the mapping of user input-to-instrument control and may notbe visually displayed in practice. However, embodiments that displayvisual indicators may display the indicators as any suitable shape(e.g., arrows, dots, or triangles). In some embodiments, there may beany number of control frame indicators on the example user interface780. For example, there may be only one control frame indicatorrepresenting the up direction or the down direction. In another example,there may be two control frame indicators representing 1) one of the updirection and the down direction and 2) one of the left direction andthe right direction. In yet another example, there may be more than fourcontrol frame indicators in addition to the up, down, left, and rightdirections.

In some embodiments, the visual frame of reference, the control frame ofreference, and/or the tip frame of reference may be calibrated in air orbefore the instrument is inserted into the patient. For example, thedirections and/or positions of the control frame indicators 790, 792,794, and 796 (i.e., the control frame of reference) may be determined bythe images from the imaging device (e.g., an image shown in the visualdisplay 782), as described herein. As shown in FIG. 24A, in someexamples, the control frame indicators 790, 792, 794, and 796 may be atleast substantially consistent with the gravitational frame ofreference. In addition, as shown in FIG. 24A, in some examples, thecontrol frame indicators 790, 792, 794, and 796 may be at leastsubstantially consistent with the visual frame of reference of thevisual display 782. For example, the up, down, left, and rightdirections in the visual display 782 may at least substantiallycorrespond to the up, down, left, and right directions of the controlframe indicators 790, 792, 794, and 796.

FIG. 24B illustrates an example user interface 800 that can be presentedto a user when the medical instrument is inserted into the patient, andthe distal end of the instrument has reached a certain area inside thepatient (e.g., a main carina of the patient as shown in FIG. 24B). Theexample user interface 800 comprises a visual display 802 and one ormore control frame indicators 810, 812, 814, and 816 representing acontrol frame of reference (e.g., the up, down, left, and rightdirections, respectively). In this example, because the medicalinstrument has reached the main carina of the patient, the visualdisplay 802 shows an image of the main carina, with the left bronchus804 and the right bronchus 806. The user interface 800 shown in FIG. 24Billustrates a display where uncommanded roll has occurred and nocorrections to either the control frame of reference or the visual frameof reference has been made. This can be disorientating for the user ofthe system as one may expect the center lines of the airways to the leftbronchus 804 and the right bronchus 806 to be substantially aligned.However, as shown in FIG. 24B, the right bronchus 806 is substantiallyrotated below the left bronchus 804. This rotation may cause the user ofthe system to adjust his knowledge of the anatomy to the rotated viewpresented by the medical instrument. Such an inconsistency may be due touncommanded, unintended, and/or parasitic instrument roll artefacts asdescribed above (e.g., an instrument roll due to an endotrachealinsertion of the medical instrument).

FIG. 24C illustrates an example user interface 820 that can be presentedto a user after the visual frame of reference is transformed. Theexample user interface 820 comprises a visual display 822 and one ormore control frame indicators 830, 832, 834, and 836 representing acontrol frame of reference (e.g., the up, down, left, and rightdirections, respectively). In contrast to the image of the visualdisplay 802 in FIG. 24B, the visual frame of reference of the visualdisplay 822 is transformed (e.g., rotated) such that the visual frame ofreference is consistent with the anatomical frame of reference (e.g.,the main carina). For example, the left bronchus 804 is located on theleft side of the visual display 822, and the right bronchus 806 on theright side of the visual display 822. Methods to transform the visualframe of reference are described herein (e.g., based on a desired frameof reference, a tracked tip roll, the tip frame of reference, thegravitational frame of reference, and/or a frame of reference measuredby one or more EM patch sensors such as, for example, EM patch sensors105, 670, 672, and/or 674). In FIG. 24C, only the visual frame ofreference is transformed to correspond to the anatomical frame ofreference; the control frame of reference still remains inconsistentwith the anatomical frame of reference. Such an inconsistency mayprovide control challenges to the operator of the medical instrument.For example, directing the medical instrument to actuate up will nowcause the medical device to move diagonal up-right according to the viewpresented in the user interface 820.

FIG. 24D illustrates an example user interface 840 that can be presentedto a user after both the visual frame of reference and the control frameof reference are transformed. The example user interface 840 comprises avisual display 842 and one or more control frame indicators 850, 852,854, and 856 representing a control frame of reference (e.g., the up,down, left, and right directions, respectively). In contrast to thevisual display 822 in FIG. 24C, both the visual frame of reference andthe control frame of reference shown in the visual display 842 aretransformed (e.g., rotated) such that the visual frame of reference andthe control frame of reference (as represented by the control frameindicators 850, 852, 854, and 856) are consistent with the anatomicalframe of reference (e.g., the main carina). For example, the controlframe indicator 854 representing the left direction corresponds to thelocation of the left bronchus 804, and the control frame indicator 856representing the right direction corresponds to the location of theright bronchus 806. Methods to transform the control frame of referenceare described herein (e.g., based on a desired frame of reference, atracked tip roll, the tip frame of reference, the gravitational frame ofreference, and/or a frame of reference measured by one or more EM patchsensors such as, for example, EM patch sensors 105, 670, 672, and/or674).

In accordance with one or more aspects of the present disclosure, FIG.25 depicts an example process of determining an uncommanded roll. Insome embodiments, the calculated uncommanded roll may be used to adjustthe visual frame of reference and/or the control frame of reference. Animage 860 derived from an imaging device (e.g., imaging device 315, 356,or 456) at or near the distal end of the medical instrument (e.g.,medical instrument 350 or 450, medical instrument 70, or endoscope 13)shows the main carina of the patient, with the left bronchus 804 and theright bronchus 806. The image 860 shows that the visual frame ofreference is not aligned with the anatomical frame of reference. In thisexample process, an anatomical characteristic (e.g., the main carina asshown in the image 860) is used as a landmark. Due to anatomicalcharacteristics of lungs, a farthest depth point in the main carina isthe right bronchus 806. The farthest depth point may be determined byvarious calculations such as, for example, a Shape From Shading (SFS)method.

The SFS method may first convert the image 860 derived from the imagingdevice to a shading image 865, in which each pixel of the shading image865 represents a shading or brightness of the original image 860. In theshading image 865, the brightest pixel(s) are represented in darkercolors, and the darkest pixel(s) are represented in lighter colors. Theshading image 865 shows the locations of depth peaks 867 and 869 of theleft bronchus 804 and the right bronchus 806, respectively. The systemmay be configured to locate the depth peaks 867 and 869 of the leftbronchus 804 and the right bronchus 806, respectively, by, for example,searching for one or more local maximum pixels in the shading image 865.

The SFS method may then calculate a rotational adjustment of the visualframe of reference and/or the control frame of reference based on thelocations of the depth peaks 267 and 869 of the left bronchus 804 andthe right bronchus 806, respectively. The rotational adjustment 880 canbe determined by calculating an angle between a horizontal line 874 ofthe original image 860 and a line 872 connecting the left bronchus 867and the right bronchus 869. Thus, the rotational adjustment 880 to thevisual frame of reference is made such that the line 872 connecting thetwo depth peaks 867 and 869 becomes horizontal; the left bronchus 804locates on the left region of a transformed image; and right bronchus806 locates on the right region of the transformed image. The rotationaladjustment to the control frame of reference is calculated to be thesame value with the rotational adjustment 880 to the visual frame ofreference but in the opposite direction. The rotational adjustment tothe control frame of reference makes the control frame of referencecorrespond to the anatomical frame of reference, as described above. Insome embodiments, the process for determining an uncommanded roll or anadjustment to the visual frame of reference and/or the control frame ofreference may be automated.

FIG. 26 describes a control system 900 configured to correct for anuncommanded instrument roll. The control system 910 can be implementedas one or more data storage devices and one or more hardware processors,for example, in a robotically controlled system (e.g., system 10, 36 or47), an instrument driver (e.g., instrument driver 62), a controller(e.g. control circuitry 68), a console (e.g., console 16 or 31), and/ora console base (e.g., cart base 15), or component(s) thereof asdescribed above.

The control system 900 comprises visual frame of reference datarepository 902, control frame of reference data repository 904, tipframe of reference data repository 906, desired frame of reference datarepository 908, processing module 910, transformed visual frame ofreference data repository 912, and/or transformed control frame ofreference data repository 914. Data of each of the input repositories902, 904, 906, and 908 may be from a user input, one or more processors,or another data repository (e.g., gravitational frame of reference datarepository). In some embodiments, the control system 900 may not haveall of the input data repositories 902, 904, 906, and 908. In someembodiments, the control system 900 may comprise more than one of theinput data repositories 902, 904, 906, and 908. In some embodiments, thecontrol system 900 may not have all of the output data repositories 912and 914. In some embodiments, the control system 900 may comprise morethan one of the output data repositories 912 and 914. Though shownseparately in FIG. 24 for purposes of clarity in the discussion below,it will be appreciated that some or all of the data repositories can bestored together in a single memory or set of memories.

The processing module 910 is configured to receive input data from thevisual frame of reference data repository 902, the control frame ofreference data repository 904, the tip frame of reference datarepository 906, and/or the desired frame of reference data repository908 and transmit output data to the transformed visual frame ofreference data repository 912, and/or the transformed control frame ofreference data repository 914. The processing module 910 comprises oneor more processors and a non-transitory computer readable storage mediumthat stores instructions that, when executed, cause the processor(s) toconduct methods, processes, and steps described herein. For example, theinstructions, when executed, may cause the processor(s) to at least:obtain a control frame of reference representing relationship between amotor control command and a motor output of a medical instrumentconfigured to be inserted into a patient; determine a tip frame ofreference based on data from at least one imaging device (e.g., imagingdevice 315, 356, or 456) or location sensor (e.g., EM coils 305 or 358,or EM patch sensors 105, 670, 672, or 674) at or near a distal end ofthe medical instrument, the tip frame of reference representing acurrent orientation of the distal end of the medical instrument; obtaina desired frame of reference based on data from the at least one imagingdevice or location sensor positioned on or near the patient; anddetermine one or more differences between (1) the control frame ofreference and (2) the desired frame of reference. In one embodiment, theinstructions, when executed, may cause the processor(s) to at least:transform the visual frame of reference and/or the control frame ofreference based on the determined differences. In one embodiment, theinstructions, when executed, may cause the processor(s) to at least:determine the one or more differences by comparing between data from theat least one imaging device or location sensor in the distal end of themedical instrument and data from one or more EM patches positioned on ornear the patient.

Embodiments here have discussed approaches that determine a tip frame ofreference via sensor data of the medical instrument and or other sensorsexternally located, such as patch sensors placed on the patient.Additionally or alternatively, other embodiments may estimate a tipframe of reference based on system setup or instrument shape. Toillustrate, some embodiments may determine that a medical instrumentwill roll in a specified direction based on whether the instrument isbeing inserted into the patent from a given side. For example, if themedical device is inserted from the right side of the patient, thesystem may assume that the medical device will roll in a givendirection. Similar determinations may be made based on a detected shapeof the scope. Where the tip frame of reference is determined in thismanner, the system may compare these estimated tip frame of referencesto the desired frame of reference or may be used to supplement themethods above to detect the tip frame of reference.

3. Implementing Systems and Terminology

Implementations disclosed herein provide systems, methods and apparatusfor correcting for uncommanded instrument roll.

It should be noted that the terms “couple,” “coupling,” “coupled” orother variations of the word couple as used herein may indicate eitheran indirect connection or a direct connection. For example, if a firstcomponent is “coupled” to a second component, the first component may beeither indirectly connected to the second component via anothercomponent or directly connected to the second component.

The correction, transformation and/or adjustment functions describedherein may be stored as one or more instructions on a processor-readableor computer-readable medium. The term “computer-readable medium” refersto any available medium that can be accessed by a computer or processor.By way of example, and not limitation, such a medium may comprise randomaccess memory (RAM), read-only memory (ROM), electrically erasableprogrammable read-only memory (EEPROM), flash memory, compact discread-only memory (CD-ROM) or other optical disk storage, magnetic diskstorage or other magnetic storage devices, or any other medium that canbe used to store desired program code in the form of instructions ordata structures and that can be accessed by a computer. It should benoted that a computer-readable medium may be tangible andnon-transitory. As used herein, the term “code” may refer to software,instructions, code or data that is/are executable by a computing deviceor processor.

The methods disclosed herein comprise one or more steps or actions forachieving the described method. The method steps and/or actions may beinterchanged with one another without departing from the scope of theclaims. In other words, unless a specific order of steps or actions isrequired for proper operation of the method that is being described, theorder and/or use of specific steps and/or actions may be modifiedwithout departing from the scope of the claims.

As used herein, the term “plurality” denotes two or more. For example, aplurality of components indicates two or more components. The term“determining” encompasses a wide variety of actions and, therefore,“determining” can include calculating, computing, processing, deriving,investigating, looking up (e.g., looking up in a table, a database oranother data structure), ascertaining and the like. Also, “determining”can include receiving (e.g., receiving information), accessing (e.g.,accessing data in a memory) and the like. Also, “determining” caninclude resolving, selecting, choosing, establishing and the like.

The phrase “based on” does not mean “based only on,” unless expresslyspecified otherwise. In other words, the phrase “based on” describesboth “based only on” and “based at least on.”

As used herein, “communicatively coupled” refers to any wired and/orwireless data transfer mediums, including but not limited to a wirelesswide area network (WWAN) (e.g., one or more cellular networks), awireless local area network (WLAN) (e.g., configured for one or morestandards, such as the IEEE 802.11 (Wi-Fi)), Bluetooth, data transfercables, and/or the like.

The previous description of the disclosed implementations is provided toenable any person skilled in the art to make or use the presentinvention. Various modifications to these implementations will bereadily apparent to those skilled in the art, and the generic principlesdefined herein may be applied to other implementations without departingfrom the scope of the invention. For example, it will be appreciatedthat one of ordinary skill in the art will be able to employ a numbercorresponding alternative and equivalent structural details, such asequivalent ways of fastening, mounting, coupling, or engaging toolcomponents, equivalent mechanisms for producing particular actuationmotions, and equivalent mechanisms for delivering electrical energy.Thus, the present invention is not intended to be limited to theimplementations shown herein but is to be accorded the widest scopeconsistent with the principles and novel features disclosed herein.

What is claimed is:
 1. A robotically controlled steerable instrumentsystem comprising: a steerable instrument comprising a proximal end, adistal end, and a channel extending therethrough, the steerableinstrument configured to be inserted into a patient; one or morepullwires extending through and coupled to at least a portion of thesteerable instrument; a robotic instrument driver; a control systemcommunicatively coupled to the robotic instrument driver and configuredto actuate the one or more pullwires; at least one computer-readablememory having stored thereon executable instructions; and one or moreprocessors in communication with the at least one computer-readablememory and configured to execute the executable instructions to causethe robotically controlled steerable instrument system to at least:identify a control frame of reference representing a relationshipbetween a motor control command and a motor output of the steerableinstrument; determine a tip frame of reference based on data from atleast one of an imaging device or location sensor at the distal end ofthe steerable instrument, the tip frame of reference representing acurrent orientation of the distal end of the steerable instrument;identify a desired frame of reference; determine a difference betweenthe tip frame of reference and the desired frame of reference; determinean uncommanded roll of the steerable instrument based on thedetermination of the difference between the tip frame of reference andthe desired frame of reference; and transform the control frame ofreference based on the determination of the uncommanded roll of thesteerable instrument.
 2. The robotically controlled steerable instrumentsystem of claim 1, wherein the location sensor comprises anelectromagnetic (EM) sensor.
 3. The robotically controlled steerableinstrument system of claim 1, wherein the one or more processors incommunication with the at least one computer-readable memory areconfigured to execute the executable instructions to cause therobotically controlled steerable instrument system to at least: (1)receive the data from the location sensor and (2) determine the tipframe of reference based on the data from the location sensor.
 4. Therobotically controlled steerable instrument system of claim 1, whereinthe one or more processors in communication with the at least onecomputer-readable memory are configured to execute the executableinstructions to cause the robotically controlled steerable instrumentsystem to at least: receive data related to the control frame ofreference from the control system.
 5. The robotically controlledsteerable instrument system of claim 1, wherein the one or moreprocessors in communication with the at least one computer-readablememory are configured to execute the executable instructions to causethe robotically controlled steerable instrument system to at least: (1)actuate the one or more pullwires to move the portion of the steerableinstrument and (2) determine the control frame of reference based on themovement of the portion of the steerable instrument.
 6. The roboticallycontrolled steerable instrument system of claim 1, wherein the one ormore processors in communication with the at least one computer-readablememory are configured to execute the executable instructions to causethe robotically controlled steerable instrument system to at least: (1)receive the data from the imaging device, (2) determine a visual frameof reference based on the data from the imaging device, and (3)transform the visual frame of reference based on the tip frame ofreference and the desired frame of reference.
 7. The roboticallycontrolled steerable instrument system of claim 1, wherein the one ormore processors in communication with the at least one computer-readablememory are configured to execute the executable instructions to causethe robotically controlled steerable instrument system to at least:determine the desired frame of reference based on one or more anatomicalfeatures of the patient.
 8. The robotically controlled steerableinstrument system of claim 1, wherein the one or more processors incommunication with the at least one computer-readable memory areconfigured to execute the executable instructions to cause therobotically controlled steerable instrument system to at least: (1)receive data from one or more sensors positioned on the patient, (2)determine a plane based on the data from the one or more sensors, (3)determine the desired frame of reference based on the plane.
 9. Therobotically controlled steerable instrument system of claim 1, whereinthe one or more processors in communication with the at least onecomputer-readable memory are configured to execute the executableinstructions to cause the robotically controlled steerable instrumentsystem to at least: determine one or more differences between at leastone image of an anatomical feature and at least one model of theanatomical feature; and transform the control frame of reference basedon the one or more differences between the at least one image and the atleast one model.
 10. The robotically controlled steerable instrumentsystem of claim 1, wherein the one or more processors in communicationwith the at least one computer-readable memory are configured to executethe executable instructions to cause the robotically controlledsteerable instrument system to at least: rotate the control frame ofreference with respect to a longitudinal axis of the steerableinstrument to align with the desired frame of reference.
 11. Therobotically controlled steerable instrument system of claim 1, whereinthe one or more processors in communication with the at least onecomputer-readable memory are configured to execute the executableinstructions to cause the robotically controlled steerable instrumentsystem to at least: transform the control frame of reference based on auser input.
 12. The robotically controlled steerable instrument systemof claim 1, wherein the one or more processors in communication with theat least one computer-readable memory are configured to further executethe executable instructions to cause the robotically controlledsteerable instrument system to at least: verify the transformed controlframe of reference.
 13. The robotically controlled steerable instrumentsystem of claim 1, wherein the one or more processors in communicationwith the at least one computer-readable memory are configured to furtherexecute the executable instructions to cause the robotically controlledsteerable instrument system to at least: actuate the one or morepullwires to move the portion of the steerable instrument; determine anexpected change in the control frame of reference in response to themovement of the portion of the steerable instrument; and compare (1) anactual change in the control frame of reference and (2) the expectedchange.
 14. The robotically controlled steerable instrument system ofclaim 1, wherein the steerable instrument further comprises a sheathconfigured to slidably cover at least a portion of the steerableinstrument, and wherein the one or more processors in communication withthe at least one computer-readable memory are configured to furtherexecute the executable instructions to cause the robotically controlledsteerable instrument system to at least: identify a sheath frame ofreference representing an orientation of a distal end of the sheath; andtransform the sheath frame of reference based on the control frame ofreference or the desired frame of reference.
 15. A non-transitorycomputer readable storage medium having stored thereon instructionsthat, when executed, cause at least one processor to at least: identifya control frame of reference representing a relationship between a motorcontrol command and a motor output of a medical instrument configured tobe inserted into a patient; determine a tip frame of reference based ondata from at least one of an imaging device or location sensor at adistal end of the medical instrument, the tip frame of referencerepresenting a current orientation of the distal end of the medicalinstrument; determine a desired frame of reference; determine one ormore differences between the tip frame of reference and the desiredframe of reference; determine that a current amount of roll of themedical instrument is out of alignment with an expected amount of rollfor the medical instrument based on the determination of the one or moredifferences between the tip frame of reference and the desired frame ofreference; and adjust the control frame of reference based on thedetermination that the current amount of roll of the medical instrumentis out of alignment with the expected amount of roll for the medicalinstrument.
 16. The non-transitory computer readable storage medium ofclaim 15, wherein the data is from the location sensor, the locationsensor comprises an electromagnetic (EM) sensor.
 17. The non-transitorycomputer readable storage medium of claim 15, wherein the instructions,when executed, cause the at least one processor to at least: determinethe desired frame of reference based on at least one of a direction ofgravity or a model of anatomy of the patient.
 18. The non-transitorycomputer readable storage medium of claim 15, wherein the instructions,when executed, cause the at least one processor to at least: transform avisual frame of reference based on the determination that the currentamount of roll of the medical instrument is out of alignment with theexpected amount of roll for the medical instrument, the visual frame ofreference representing an orientation of the imaging device at thedistal end of the medical instrument.
 19. A system comprising: one ormore processors; and at least one computer-readable memorycommunicatively coupled to the one or more processors and storingexecutable instructions that, when executed by the one or moreprocessors, cause the one or more processors to perform operationscomprising: identifying a control frame of reference representing arelationship between a motor control command and a motor output of amedical instrument configured to be inserted into a patient; determininga tip frame of reference based on data from at least one of an imagingdevice or location sensor at a distal end of the medical instrument, thetip frame of reference representing a current orientation of the distalend of the medical instrument; determining an expected frame ofreference; determining one or more differences between the tip frame ofreference and the expected frame of reference; determining that acurrent amount of roll of the medical instrument is out of alignmentwith an expected amount of roll for the medical instrument based on thedetermination of the one or more differences between the tip frame ofreference and the expected frame of reference; and adjusting the controlframe of reference based on the determination that the current amount ofroll of the medical instrument is out of alignment with the expectedamount of roll for the medical instrument.
 20. The system of claim 19,wherein the operations further comprise: based on robotic command data,causing a robotic component to control movement of the medicalinstrument, wherein the determining the expected frame of reference isbased on the robotic command data.